ROS 21讲
1 ROS是什么
提高机器人研发中的软件复用率
通信机制 + 开发工具 + 应用功能 + 生态系统 构成
2 ROS 核心概念
节点之间可以通过通信完成配合
松耦合,可以不同语言
节点很多通信方式
节点:
执行单元
- 执行具体任务的进程,独立的可执行的,相当于Windows的exe
- 不同节点可以使用不同语言,可分布式运行不同的主机
- 节点在系统中的名称必须是唯一的
节点管理器:
- 为节点提供命名和注册服务
- 跟踪和记录话题/服务通信,辅助节点相互查找,建立连接
- 提供参数服务器,节点使用此服务器存储和检索运行时的参数
话题
异步通信机制,单向数据传输
- 节点间用来传输数据的重要总线
- 使用发布/订阅模型,数据由发布者传输到订阅者,同一个话题的订阅者或发布者可以不唯一
消息
话题数据
- 具有一定的类型和数据结构,包括ROS提供的标准类型和用户自定义类型
- 使用编程语言无关的.msg文件定义,编译过程中生成对应的代码文件
服务
同步通信机制
- 使用客户端/服务端模型,客户端发送请求的数据,服务器完成处理后返回应答数据
- 使用编程语言无关的.srv文件定义请求和应答数据结构,编译过程中生成对应的代码文件
参数
全局共享字典
- 可通过网络访问的共享,多变量字典
- 节点使用此服务器来存储和检索运行时的参数
- 适合存储静态,非二级制的配置参数,不适合存储动态配置的数据
文件系统
功能包
- ROS软件中的基本单元,包含节点源码,配置文件,数据定义等
功能包清单
- 记录功能包的基本信息,包含作者信息,许可信息,依赖选项,编译标志
元功能包
- 组织多个用于同一目的的功能包
3 命令行使用工具方式
常用命令
rostopic
rosservice
rosnode
rosparam
rosmsg
rossrv
小海龟启动
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
图形界面
rqt_graph
其他的
rosnode
列举所有节点
rosnode list
查看节点信息
rosnode info /turtlesim
查看话题
rostopic
海龟自主运动
rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist "linear:
x: 1.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
turtle1/cmd_vel : 话题名字
geometry_msgs/Twist:消息结构
“linear:
x: 1.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0” 数据结构
"linear:线速度 m/s
angular: 角速度 rad/s
-r : 频率
10 : 10m/s
angular z轴是垂直显示器向外的
查看消息
rosmsg show geometry_msgs/Twist
rosservice list
增加新的小海龟
rosservice call /spawn "x: 2.0
y: 2.0
theta: 0.0
name: 'turtle2'"
name: "turtle2"
左下角为0点
话题记录
rosbag record -a -O cmd_record
话题复现
rosbag play cmd_record.bag
4 创建工作空间与功能包
工作空间是一个存放工程开发相关文件的文件夹
- src 代码空间
- build 编译空间
- devel 开发空间
- install 安装空间
创建工作空间
mkdir catkin_ws
cd catkin_ws/
mkdir src
cd src/
catkin_init_workspace
编译
catkin_make
catkin_make install
创建功能包
cd src/
catkin_create_pkg test_pkg roscpp rospy std_msgs
编译功能包
cd ..
catkin_make
运行功能包里面的某一个程序,先设置环境变量
source devel/setup.bash
检查环境变量
echo $ROS_PACKAGE_PATH
同一个工作空间下,不允许存在同名功能包
不同工作空间下,允许存在同名功能包
5 发布者publisher的编程实现
cd src/
catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim
创建发布者代码
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
int main(int argc, char** argv)
{
//ros节点初始化
ros::init(argc,argv,"velocity_publisher");
//创建节点句柄
ros::NodeHandle n;
//创建一个publisher 发布名为 /turtle1/cmd_vel 的topic,消息类型为geometry_msgs::Twist,队列长度10
ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>(
"/turtle1/cmd_vel",10);
//设置循环的频率
ros::Rate loop_rate(10);
int count =0;
while(ros::ok())
{
//初始化geometry_msgs::Twist
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5;
vel_msg.angular.z = 0.2;
//发布消息
turtle_vel_pub.publish(vel_msg);
ROS_INFO("Publish turtle velocity command[%.2f m/s, %.2f rad/s]",
vel_msg.linear.x,vel_msg.angular.z);
//按照循环频率延时
loop_rate.sleep();
}
return 0;
}
编译
修改cmakelist
加入以下代码
add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})
编译
catkin_make
source devel/setup.bash
运行小海龟
roscore
rosrun turtlesim turtlesim_node
source devel/setup.bash
rosrun learning_topic velocity_publisher
6 订阅者subscribe的编程实现
#include <ros/ros.h>
#include "turtlesim/Pose.h"
void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{
ROS_INFO("Turtle pose x : %0.6f,y:%0.6f",msg->x,msg->y);
}
int main(int argc , char** argv)
{
//初始化ros节点
ros::init(argc,argv,"pose_subscriber");
//创建句柄
ros::NodeHandle n;
//创建subscriber 订阅名为/turtle1/pose的topic 注册回调函数poseCallback
ros::Subscriber pose_sub = n.subscribe("/turtle1/pose",10,poseCallback);
//循环等待回调函数
ros::spin();
return 0;
}
修改camkelist
add_executable(pose_subscriber src/pose_subscriber.cpp)
target_link_libraries(pose_subscriber ${catkin_LIBRARIES})
编译
catkin_make
运行小海龟
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_topic pose_subscriber
rosrun turtlesim turtle_teleop_key
7 话题消息的定义与使用
在msg中创建
touch Person.msg
打开文件写入
string name
uint8 sex
uint8 age
uint8 unknown = 0
uint8 male = 1
uint8 female = 2
在package.xml中添加依赖
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
在camkelist
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
rospy
std_msgs
turtlesim
message_generation
)
add_message_files(FILES Person.msg)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES learning_topic
CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime
# DEPENDS system_lib
)
编译
catkin_make
发布者
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将发布/person_info话题,自定义消息类型learning_topic::Person
*/
#include <ros/ros.h>
#include "learning_topic/Person.h"
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "person_publisher");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Publisher,发布名为/person_info的topic,消息类型为learning_topic::Person,队列长度10
ros::Publisher person_info_pub = n.advertise<learning_topic::Person>("/person_info", 10);
// 设置循环的频率
ros::Rate loop_rate(1);
int count = 0;
while (ros::ok())
{
// 初始化learning_topic::Person类型的消息
learning_topic::Person person_msg;
person_msg.name = "Tom";
person_msg.age = 18;
person_msg.sex = learning_topic::Person::male;
// 发布消息
person_info_pub.publish(person_msg);
ROS_INFO("Publish Person Info: name:%s age:%d sex:%d",
person_msg.name.c_str(), person_msg.age, person_msg.sex);
// 按照循环频率延时
loop_rate.sleep();
}
return 0;
}
订阅者
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将订阅/person_info话题,自定义消息类型learning_topic::Person
*/
#include <ros/ros.h>
#include "learning_topic/Person.h"
// 接收到订阅的消息后,会进入消息回调函数
void personInfoCallback(const learning_topic::Person::ConstPtr& msg)
{
// 将接收到的消息打印出来
ROS_INFO("Subcribe Person Info: name:%s age:%d sex:%d",
msg->name.c_str(), msg->age, msg->sex);
}
int main(int argc, char **argv)
{
// 初始化ROS节点
ros::init(argc, argv, "person_subscriber");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Subscriber,订阅名为/person_info的topic,注册回调函数personInfoCallback
ros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback);
// 循环等待回调函数
ros::spin();
return 0;
}
修改camkelist
add_executable(person_publisher src/person_publisher.cpp)
target_link_libraries(person_publisher ${catkin_LIBRARIES})
add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp)
add_executable(person_subscriber src/person_subscriber.cpp)
target_link_libraries(person_subscriber ${catkin_LIBRARIES})
add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp)
运行小海龟
source devel/setup.bash
roscore
rosrun learning_topic person_subscriber
rosrun learning_topic person_publisher
8 客户端Client的编程实现
代码:
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将请求/spawn服务,服务数据类型turtlesim::Spawn
*/
#include <ros/ros.h>
#include <turtlesim/Spawn.h>
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "turtle_spawn");
// 创建节点句柄
ros::NodeHandle node;
// 发现/spawn服务后,创建一个服务客户端,连接名为/spawn的service
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");
// 初始化turtlesim::Spawn的请求数据
turtlesim::Spawn srv;
srv.request.x = 2.0;
srv.request.y = 2.0;
srv.request.name = "turtle2";
// 请求服务调用
ROS_INFO("Call service to spwan turtle[x:%0.6f, y:%0.6f, name:%s]",
srv.request.x, srv.request.y, srv.request.name.c_str());
add_turtle.call(srv);
// 显示服务调用结果
ROS_INFO("Spwan turtle successfully [name:%s]", srv.response.name.c_str());
return 0;
};
创建功能包
cd ~/文档/catkin_ws/src
catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
修改cmakelist
add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
运行小海龟
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_service turtle_spawn
9 服务端server
代码:
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将执行/turtle_command服务,服务数据类型std_srvs/Trigger
*/
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <std_srvs/Trigger.h>
ros::Publisher turtle_vel_pub;
bool pubCommand = false;
// service回调函数,输入参数req,输出参数res
bool commandCallback(std_srvs::Trigger::Request &req,
std_srvs::Trigger::Response &res)
{
pubCommand = !pubCommand;
// 显示请求数据
ROS_INFO("Publish turtle velocity command [%s]", pubCommand==true?"Yes":"No");
// 设置反馈数据
res.success = true;
res.message = "Change turtle command state!";
return true;
}
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "turtle_command_server");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个名为/turtle_command的server,注册回调函数commandCallback
ros::ServiceServer command_service = n.advertiseService("/turtle_command", commandCallback);
// 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
// 循环等待回调函数
ROS_INFO("Ready to receive turtle command.");
// 设置循环的频率
ros::Rate loop_rate(10);
while(ros::ok())
{
// 查看一次回调函数队列
ros::spinOnce();
// 如果标志为true,则发布速度指令
if(pubCommand)
{
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5;
vel_msg.angular.z = 0.2;
turtle_vel_pub.publish(vel_msg);
}
//按照循环频率延时
loop_rate.sleep();
}
return 0;
}
在终端输入
rossrv show std_srvs/Trigger
返回:
---
bool success
string message
修改cmakelist
add_executable(turtle_command_server src/turtle_command_server.cpp)
target_link_libraries(turtle_command_server ${catkin_LIBRARIES})
编译:
catkin_make
运行小海龟
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_service turtle_command_server
rosservice call /turtle_command "{}" //相当于开关
10 服务数据的定义与使用
如何定义服务数据
string name
uint8 age
uint8 sex
uint8 unknown = 0
uint8 male = 1
uint8 female = 2
---
string result
创建srv文件
touch Person.srv
定义srv文件
在package.xml中添加功能包依赖
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
在cmakelist中添加
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
rospy
std_msgs
turtlesim
message_generation
)
add_service_files(FILES Person.srv)
generate_messages(DEPENDENCIES std_msgs)
catkin_package( message_runtime)
编译:
catkin_make
代码:
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将请求/show_person服务,服务数据类型learning_service::Person
*/
#include <ros/ros.h>
#include "learning_service/Person.h"
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "person_client");
// 创建节点句柄
ros::NodeHandle node;
// 发现/spawn服务后,创建一个服务客户端,连接名为/spawn的service
ros::service::waitForService("/show_person");
ros::ServiceClient person_client = node.serviceClient<learning_service::Person>("/show_person");
// 初始化learning_service::Person的请求数据
learning_service::Person srv;
srv.request.name = "Tom";
srv.request.age = 20;
srv.request.sex = learning_service::Person::Request::male;
// 请求服务调用
ROS_INFO("Call service to show person[name:%s, age:%d, sex:%d]",
srv.request.name.c_str(), srv.request.age, srv.request.sex);
person_client.call(srv);
// 显示服务调用结果
ROS_INFO("Show person result : %s", srv.response.result.c_str());
return 0;
};
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将执行/show_person服务,服务数据类型learning_service::Person
*/
#include <ros/ros.h>
#include "learning_service/Person.h"
// service回调函数,输入参数req,输出参数res
bool personCallback(learning_service::Person::Request &req,
learning_service::Person::Response &res)
{
// 显示请求数据
ROS_INFO("Person: name:%s age:%d sex:%d", req.name.c_str(), req.age, req.sex);
// 设置反馈数据
res.result = "OK";
return true;
}
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "person_server");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个名为/show_person的server,注册回调函数personCallback
ros::ServiceServer person_service = n.advertiseService("/show_person", personCallback);
// 循环等待回调函数
ROS_INFO("Ready to show person informtion.");
ros::spin();
return 0;
}
配置cmakelist
add_executable(person_server src/person_server.cpp)
target_link_libraries(person_server ${catkin_LIBRARIES})
add_dependencies(person_server ${PROJECT_NAME}_gencpp)
add_executable(person_client src/person_client.cpp)
target_link_libraries(person_client ${catkin_LIBRARIES})
add_dependencies(person_client ${PROJECT_NAME}_gencpp)
编译:
catkin_make
source devel/setup.bash
roscore
rosrun learning_service person_server
rosrun learning_service person_client
11 参数的使用与编程方法
参数模型
全局字典
创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_parameter roscpp rospy std_srvs
yaml参数文件
background_b : 255
background_g : 86
background_r : 89
rosdistro : 'melodic'
uris:{host_hcx_vpc__43763:'http://hcx-vpc:43763/'}
rosversion:'1.14.3'
run_id:077058de-a38b-11e9-818b-000c29d22e4d
rosparam
rosparam list //列出当前有多少参数
rosparam get param_key //显示某个参数的值
rosparam set param_key param_value//设置
rosparam dump filename//保存参数到文件
rosparam load filename//从文件读取数据
rosparam delete param_key
运行小海龟
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
实际使用实例
rosparam get /turtlesim/background_b
rosparam get /rosversion
rosparam set /turtlesim/background_b 100
rosservice call /clear "{}" //修改背景颜色
rosparam dump param.yaml
rosparam load param.yaml
代码:
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程设置/读取海龟例程中的参数
*/
#include <string>
#include <ros/ros.h>
#include <std_srvs/Empty.h>
int main(int argc, char **argv)
{
int red, green, blue;
// ROS节点初始化
ros::init(argc, argv, "parameter_config");
// 创建节点句柄
ros::NodeHandle node;
// 读取背景颜色参数
ros::param::get("/turtlesim/background_r", red);
ros::param::get("/turtlesim/background_g", green);
ros::param::get("/turtlesim/background_b", blue);
ROS_INFO("Get Backgroud Color[%d, %d, %d]", red, green, blue);
// 设置背景颜色参数
ros::param::set("/turtlesim/background_r", 255);
ros::param::set("/turtlesim/background_g", 255);
ros::param::set("/turtlesim/background_b", 255);
ROS_INFO("Set Backgroud Color[255, 255, 255]");
// 读取背景颜色参数
ros::param::get("/turtlesim/background_r", red);
ros::param::get("/turtlesim/background_g", green);
ros::param::get("/turtlesim/background_b", blue);
ROS_INFO("Re-get Backgroud Color[%d, %d, %d]", red, green, blue);
// 调用服务,刷新背景颜色
ros::service::waitForService("/clear");
ros::ServiceClient clear_background = node.serviceClient<std_srvs::Empty>("/clear");
std_srvs::Empty srv;
clear_background.call(srv);
sleep(1);
return 0;
}
修改cmakelist
add_executable(parameter_config src/parameter_config.cpp)
target_link_libraries(parameter_config ${catkin_LIBRARIES})
编译:
catkin_make
运行小海龟
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_parameter parameter_config