ROS1中的roslaunch功能点里有很多小细节,很有用,记录在此:
一)官网
官网说明:http://wiki.ros.org/roslaunch/Tutorials
源码:https://github.com/ros/ros_comm.git
1)复杂项目的tips
2)通过在rosnode tag里增加“launch-prefix=” (Valgrind或者GDB) 去debug ROS node进程(如内存调试、内存泄漏检测)--待调研
3)gprof 、Callgrind + Kcachegrind 通过在launch文件增加对应参数,最后对~/.ros/目录下相应log进行分析,来达到性能分析的目的--待调研
该课题最好的Demo是pr2
url = https://github.com/PR2/pr2_robot.git
url = https://github.com/PR2/pr2_navigation_apps.git
url = https://github.com/pr2/pr2_controllers
url = https://github.com/pr2/pr2_power_drivers.git
url = https://github.com/pschillinger/rqt_launchtree.git
二)launch 文件
http://wiki.ros.org/roslaunch/XML
roslaunch文件是以xml文件形式书写,对应几个标签都值得细看:
以<node>标签里面的respawn output等参数来分析
respawn="true" ----允许节点挂掉之后立马重启(默认respawn_delay="0"),亲测重启效率感人。
output="log|screen" ----默认应该是log,保存在$ROS_HOME/log下。
对应代码可以在ros_common的src/roslaunch/src/roslaunch/core.py, server.py等中详细解读
三)ROS实践-跨主机启动
主要是通过roslaunch machine的标签的使用:参阅 http://wiki.ros.org/roslaunch/XML/machine
需要设置如下几个步骤:
1.需要多台ros的主机之间能够免密ssh 访问和ping
参阅:http://wiki.ros.org/ROS/NetworkSetup
a)配置~/.ssh/config, 可以通过对应Host 名来以User 名ssh登录
# contents of $HOME/.ssh/config
Host train
HostName 192.168.10.43
User train
Host def
HostName 192.168.10.157
User def
Host abc
HostName 192.168.10.53
User abc
~
b) 对应生成的rsapub key 需要互相记录
ssh-keygen -t rsa
ssh-copy-id usr@abc
配置/etc/hosts,这样可以通过通过特定name , ping 能够访问到对应IP
....
192.168.10.157 def
192.168.10.53 abc
做完a) b),可以通过ssh $hostname ping $hostname 免密登录另外主机,则说明配置成功
2.需要配置好ROS_IP、 ROS_HOSTNAME 、 ROS_MASTER_URI
3.通过roslaunch的方式来启动远端节点
<launch>
<machine name="heli" address="heli" user="whoami" default="true" env-loader="/home/heli/setup.sh" />
<node pkg="rospy_tutorials" type="talker.py" name="talker" respawn="true" />
</launch>
roslaunch beginner heli.launch
... logging to /home/weilin/.ros/log/0cf737f4-a224-11e9-a70b-9cb6d0f8e12d/roslaunch-weilin-13176.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
betsy: roscore init respawn====== True
betsy: roscore init respawn====== True
betsy heli
betsy:__init__ roslaunch
betsy:start roslaunch None
betsy:ServerProxy 13176
started roslaunch server http://192.168.10.21:45679/
betsy heli
remote[heli-0] starting roslaunch
remote[heli-0]: creating ssh connection to heli:22, user[heli]
/usr/lib/python2.7/dist-packages/Crypto/Cipher/blockalgo.py:141: FutureWarning: CTR mode needs counter parameter, not IV
self._cipher = factory.new(key, *args, **kwargs)
launching remote roslaunch child with command: [env ROS_MASTER_URI=http://192.168.10.21:11311 /home/heli/setup.sh roslaunch -c heli-0 -u http://192.168.10.21:45679/ --run_id 0cf737f4-a224-11e9-a70b-9cb6d0f8e12d]
remote[heli-0]: ssh connection created
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
MACHINES
* heli
NODES
/
talker (rospy_tutorials/talker.py)
ROS_MASTER_URI=http://192.168.10.21:11311
betsy heli
betsy heli
[heli-0]: launching nodes...
[heli-0]: ROS_MASTER_URI=http://192.168.10.21:11311
[heli-0]: process[talker-1]: started with pid [9910]
[heli-0]: ... done launching nodes
在远端机器上可以看到启动了talker的ros进程,通过rostopic echo 也可以看到对应的节点打印 rosnode info看见启动的节点在那个机器上
至此启动成功
4.通过roslaunch的方式来关闭远端节点
参阅 wiki.ros.org/rosnode
import roslaunch
import rospy
rospy.init_node('en_Mapping', anonymous=True)
uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
roslaunch.configure_logging(uuid)
launch = roslaunch.parent.ROSLaunchParent(uuid, ["/home/haier/catkin_ws/src/testapi/launch/test_node.launch"])
launch.start()
rospy.loginfo("started")
rospy.sleep(3)
# 3 seconds later
launch.shutdown()
使用过程中,提示需要在主线程使用该节点,不清楚为什么