说明:
- 这一节介绍定义msg消息,创建两个简单的rospy节点。
- "talker"节点发布信息在主题"chatter","listener"节点接受和打印信息。
定义msg消息
- 在beginner_tutorials,新建msg消息目录,新建Num.msg文件
$ roscd beginner_tutorials
$ mkdir msg
$ cd msg
$ touch Num.msg
$ rosed beginner_tutorials Num.msg
- Num.msg文件,手工输入代码:
int64 num
- 打开文件
rosed beginner_tutorials package.xml
,增加依赖,
<build_depend>message_generation</build_depend>
<run_depend>message_runtime</run_depend>
- 打开文件
rosed beginner_tutorials CMakeLists.txt
,增加依赖,
# Do not just add this line to your CMakeLists.txt, modify the existing line
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
- 在CMakeLists.txt文件,增加消息文件,取消#,并修改为
add_message_files(
FILES
Num.msg
)
- 在CMakeLists.txt文件,增加消息生成包,取消#,并修改为
generate_messages(
DEPENDENCIES
std_msgs
)
- 在CMakeLists.txt文件,增加消息生成包,取消CATKIN_DEPENDS的#,并修改为
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES beginner_tutorials
CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
# DEPENDS system_lib
)
- 编译代码
$ cd ~/catkin_ws
$ catkin_make
- 检查服务
- 命令:
$ rosmsg show beginner_tutorials/Num
- 效果:
int64 num
编写发布器的步骤
- 进入之前建立的包beginner_tutorials
$ roscd beginner_tutorials
- 建立Python脚本目录
$ mkdir scripts
$ cd scripts
- 访问代码:
https://github.com/ros/ros_tutorials/blob/kinetic-devel/rospy_tutorials/001_talker_listener/talker.py
- 新建talker.py文件,设置权限为可执行,并手工输入代码
$ touch talker.py #生成文件
$ chmod +x talker.py #设置可执行
$ rosed beginner_tutorials talker.py #自己输入代码
内容如下:
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
def talker():
pub = rospy.Publisher('chatter', String, queue_size=10)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(10) # 10hz
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.ROSInterruptException:
pass
- 请手工输入上面代码,加深节点结构印象。
- 代码分析
-
代码:
#!/usr/bin/env python
-
分析:指定通过python解释代码
-
代码:
import rospy
-
分析:导入rospy包,rospy是ROS的python客户端。参考rospy API接口
-
代码:
from std_msgs.msg import String
-
分析:
- 导入python的标准字符处理库
- String是一个函数,可以另外方式赋值:
msg = String()
msg.data = str
- 或者
String(data=str)
-
代码:
def talker()
-
分析:定义talker函数,参考如何定义函数
-
代码:
pub = rospy.Publisher('chatter', String, queue_size=10)
-
分析:定义发布的主题名称chatter, 消息类型String,实质是std_msgs.msg.String, 设置队列条目个数.参考rospy.Publisher API
-
代码:
rospy.init_node('talker', anonymous=True)
-
分析:
- 初始化节点,节点名称为talker, 参考rospy.init_node API
- anonymous=True,要求每个节点都有唯一的名称,避免冲突。这样可以运行多个talker.py
-
代码:
rate = rospy.Rate(10) # 10hz
-
分析:设置发布的频率,单位是每秒次数,这是每秒10次的频率发布主题,参考rospy.Rate API
-
代码:
rospy.is_shutdown()
-
分析:用于检测程序是否退出,是否按Ctrl-C 或其他
-
代码:
rospy.loginfo
-
分析:在屏幕输出日志信息,写入到rosout节点,也可以通过rqt_console来查看。参考rospy.loginfo API
-
代码:pub.publish(hello_str)
-
分析:发布信息到主题,参考pub.publish API
-
代码:
rate.sleep()
-
分析:睡眠一定持续时间,如果参数为负数,睡眠会立即返回。参考 sleep api
- 编译代码
$ cd ~/catkin_ws
$ catkin_make
- 测试代码
- 打开新终端,启动roscore
$ roscore
- 打开另一个终端,启动talker.py
$rosrun beginner_tutorials talker.py
- 效果:
ubu@ubu:~/catkin_ws/src$ rosrun beginner_tutorials talker.py
[INFO] [WallTime: 1478418967.640556] hello world 1478418967.64
[INFO] [WallTime: 1478418967.741493] hello world 1478418967.74
- 查看主题
- 命令:
$ rostopic echo /chatter
- 效果:
data: hello world 1478444433.95
---
data: hello world 1478444434.45
---
data: hello world 1478444434.95
---
data: hello world 1478444435.45
---
data: hello world 1478444435.95
---
data: hello world 1478444436.45
编写订阅器的步骤
- 访问代码:
https://github.com/ros/ros_tutorials/blob/kinetic-devel/rospy_tutorials/001_talker_listener/listener.py
- 进入~/catkin_ws/src/beginner_tutorials/scripts目录,建立listener.py文件
$ roscd beginner_tutorials
$ cd scripts
$ touch listener.py
$ chmod +x listener.py
$ rosed beginner_tutorials listener.py
- 手工输入如下代码:
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
def callback(data):
rospy.loginfo(rospy.get_caller_id() + 'I heard %s', data.data)
def listener():
# In ROS, nodes are uniquely named. If two nodes with the same
# name are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'listener' node so that multiple listeners can
# run simultaneously.
rospy.init_node('listener', anonymous=True)
rospy.Subscriber('chatter', String, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == '__main__':
listener()
- 代码分析
-
代码:
rospy.init_node('listener', anonymous=True)
-
分析:
- 初始化节点,节点名称为talker, 参考rospy.init_node API
- anonymous=True,要求每个节点都有唯一的名称,避免冲突。这样可以运行多个listener.py
-
代码:
rospy.Subscriber("chatter", String, callback)
-
分析:
- 订阅函数,订阅chatter主题,内容类型是std_msgs.msgs.String。
- 当有新内容,调用callback函数处理。接受到的主题内容作为参数传递给callback.
-
代码:
rospy.spin()
-
分析:保持节点运行,直到节点关闭。不像roscpp,rospy.spin不影响订阅的回调函数,因为回调函数有自己的线程。
- 编译代码
$ cd ~/catkin_ws
$ catkin_make
- 测试代码
- 打开新终端,启动roscore
$ roscore
- 先打开终端运行talker.py, 打开另一个终端,启动listener.py
$rosrun beginner_tutorials listener.py
- 效果:
ubu@ubu:~/catkin_ws/src/beginner_tutorials/scripts$ rosrun beginner_tutoals listener.py
[INFO] [WallTime: 1478442694.947875] /listerner_14737_1478442694294I heard hello world 1478442694.95
[INFO] [WallTime: 1478442695.448907] /listerner_14737_1478442694294I heard hello world 1478442695.45
- 也可以使用命令测试listener.py
- 命令:
$ rostopic pub -r 10 /chatter std_msgs/String "test"
- 效果:
$ rostopic echo /chatter
data: test
---
data: test
---
data: test
---
data: test
---
data: test
---
data: test
- 使用rqt_console命令查看日志输出
- 命令:
$ rqt_console
- 效果:
- 使用rqt_graph命令查看节点间调用关系
- 命令:
$ rqt_graph
- 效果:
- 运行多个talker.py和listener.py, 查看调用关系
- 效果:
制作Launch文件
- 在beginner_tutorials目录下新建bringup目录
$ roscd beginner_tutorials
$ mkdir -p bringup
- 进入bringup, 新建talker-and-listener.launch
$ cd bringup
$ rosed beginner_tutorials talker-and-listener.launch
- 手工输入代码:
<launch>
<node name="talker" pkg="beginner_tutorials" type="talker.py" />
<node name="listener" pkg="beginner_tutorials" type="listener.py" />
</launch>
- 运行launch
- 命令:
$ roslaunch beginner_tutorials talker-and-listener.launch
-
效果: