ROS文件系统
1.ROS的系统架构
ROS(Robot Operating System,机器人操作系统)的系统架构可以大致分为三个主要层次:OS层、中间层和应用层。
- OS层:ROS并不是一个传统意义上的操作系统,无法像Windows、Linux一样直接运行在计算机硬件之上,而是需要依托于Linux系统。
- 中间层:Linux是一个通用系统,并没有针对机器人开发提供特殊的中间件,因此ROS在中间层做了大量工作。其中,最为核心的是基于TCPROS/UDPROS的通信系统。ROS的通信系统基于TCP/UDP网络,并在此之上进行了再次封装,形成了TCPROS/UDPROS。此外,中间层还实现了ROS的核心通信机制以及众多机器人开发库。
- 应用层:在应用层,ROS需要运行一个管理者——Master,负责管理整个系统的正常运行。这一层次确保了功能节点的正常运行。
从系统实现的角度来看,ROS的架构还可以分为文件系统、计算图和开源社区三个层面。计算图代表了ROS内部的处理流程和数据流动,文件系统则关注于ROS的文件结构、组织方式和相关工具命令,而开源社区则是ROS得以持续发展和完善的重要支撑。
1.1 ROS文件系统
ROS文件系统指的是在硬盘上ROS源代码的组织架构,其架构如下
WorkSpace --- 自定义的工作空间
|--- build:编译空间,用于存放CMake和catkin的缓存信息、配置信息和其他中间文件。
|--- devel:开发空间,用于存放编译后生成的目标文件,包括头文件、动态&静态链接库、可执行文件等。
|--- src: 源码
|-- package:功能包(ROS基本单元)包含多个节点、库与配置文件,包名所有字母小写,只能由字母、数字与下划线组成
|-- CMakeLists.txt 配置编译规则,比如源文件、依赖项、目标文件
|-- package.xml 包信息,比如:包名、版本、作者、依赖项...(以前版本是 manifest.xml)
|-- scripts 存储python文件
|-- src 存储C++源文件
|-- include 头文件
|-- msg 消息通信格式文件
|-- srv 服务通信格式文件
|-- action 动作格式文件
|-- launch 可一次性运行多个节点
|-- config 配置信息
|-- CMakeLists.txt: 编译的基本配置
1.1.1package.xml
该文件定义有关软件包的属性,例如软件包名称,版本号,作者,维护者以及对其他catkin软件包的依赖性。
<?xml version="1.0"?>
<!-- 格式: 以前是 1,推荐使用格式 2 -->
<package format="2">
<!-- 包名 -->
<name>demo01_hello_vscode</name>
<!-- 版本 -->
<version>0.0.0</version>
<!-- 描述信息 -->
<description>The demo01_hello_vscode package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<!-- 维护人员 -->
<maintainer email="xuzuo@todo.todo">xuzuo</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<!-- 许可证信息,ROS核心组件默认 BSD -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/demo01_hello_vscode</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<!-- 依赖的构建工具,这是必须的 -->
<buildtool_depend>catkin</buildtool_depend>
<!-- 指定构建此软件包所需的软件包 -->
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<!-- 指定根据这个包构建库所需要的包 -->
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<!-- 运行该程序包中的代码所需的程序包 -->
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
1.1.2CmakeLists.txt
文件CMakeLists.txt是CMake构建系统的输入,用于构建软件包。任何兼容CMake的软件包都包含一个或多个CMakeLists.txt文件,这些文件描述了如何构建代码以及将代码安装到何处。
cmake_minimum_required(VERSION 3.0.2) #所需 cmake 版本
project(demo01_hello_vscode) #包名称,会被 ${PROJECT_NAME} 的方式调用
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
#设置构建所需要的软件包
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
)
## System dependencies are found with CMake's conventions
#默认添加系统依赖
# find_package(Boost REQUIRED COMPONENTS system)
## 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
# 启动 python 模块支持
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
## 声明 ROS 消息、服务、动作... ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# 生成消息、服务时的依赖包
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
## 声明 ROS 动态参数配置 ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
## catkin 特定配置##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
# 运行时依赖
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES demo01_hello_vscode
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# 添加头文件路径,当前程序包的头文件路径位于其他文件路径之前
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# 声明 C++ 库
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/demo01_hello_vscode.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# 添加库的 cmake 目标依赖
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# 声明 C++ 可执行文件
add_executable(Hello_VSCode src/Hello_VSCode.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
#重命名c++可执行文件
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
#添加可执行文件的 cmake 目标依赖
add_dependencies(Hello_VSCode ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
#指定库、可执行文件的链接库
target_link_libraries(Hello_VSCode
${catkin_LIBRARIES}
)
#############
## Install ##
## 安装 ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
#设置用于安装的可执行脚本
catkin_install_python(PROGRAMS
scripts/Hi.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_demo01_hello_vscode.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
1.5.2 ROS文件系统相关命令
ROS 的文件系统本质上都还是操作系统文件,可以使用Linux命令来操作这些文件,不过,在ROS中为了更好的用户体验,ROS专门提供了一些类似于Linux的命令,这些命令较之于Linux原生命令,更为简介、高效。
增
catkin_create_pkg 自定义包名 依赖包 === 创建新的ROS功能包
sudo apt install xxx === 安装 ROS功能包
删
sudo apt purge xxx ==== 删除某个功能包
查
rospack list === 列出所有功能包
rospack find 包名 === 查找某个功能包是否存在,如果存在返回安装路径
roscd 包名 === 进入某个功能包
rosls 包名 === 列出某个包下的文件
apt search xxx === 搜索某个功能包
改
rosed 包名 文件名 === 修改功能包文件
执行
roscore 是 ROS 的系统先决条件节点和程序的集合, 必须运行 roscore 才能使 ROS 节点进行通信。
rosrun 包名 可执行文件名 === 运行指定的ROS节点
roslaunch 包名 launch文件名 === 执行某个包下的 launch 文件
1.2 ROS计算图
1.2.1计算图简介
ROS(Robot Operating System,机器人操作系统)中的计算图(Computation Graph)是一个核心概念,它描述了ROS节点之间的数据流动和通信方式。计算图不仅仅是一个通信网络,它更反映了ROS设计哲学的核心——灵活性、模块化和可重用性。
具体来说,ROS的计算图是由多个处理单元(节点)以及这些单元之间的通信链接(主题、服务和动作)构成的网络。每个节点代表ROS中运行的一个进程,负责处理数据并完成特定的任务,如感知环境、控制机器人部件或执行决策算法。节点之间通过预定义的接口相互通信,这些接口包括主题(Topics)、服务(Services)等。
为了更直观地了解计算图的运行情况,ROS提供了一个实用的工具——rqt_graph。rqt_graph能够创建一个显示当前系统运行情况的动态图形,以点的网络形式表现数据交互过程,从而帮助开发者更好地理解和优化ROS系统中的数据流动和通信方式。
1.2.2计算图安装
运行命令:
rosrun rqt_graph rqt_graph
如果没有安装,输入安装命令
$ sudo apt install ros-noetic-rqt
$ sudo apt install ros-noetic-rqt-common-plugins
1.2.3 演示
运行小海龟 demo
再运行计算图工具,可以看到当前活跃的节点之间的关系拓扑结构