教程基于《无人驾驶原理与实践》2.6.4,请结合此书学习。
先指出书中有3点错误:
1.创建的包名为husky_highlevel_controller,但后文和程序中中多次变成husky_high_level_controller,统一用一个名称即可。
本文用的husky_highlevel_controller,涉及修改的地方有include/husky_high_level_controller目录,CmakeLists.txt内容,husky_highlevel_controller_node.app内容、husky_controller.cpp内容、launch文件内容。
2.代码清单2-13,CMakeList.txt:
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME} #改正:这句话取消注释
CATKIN_DEPENDS roscpp sensor_msgs
# DEPENDS system_lib
)
3代码清单2-18
roslaunch husky_highlevel_controller high_controller.launch # 这句话取消注释,才能启动launch文件
ok,开始教程!
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1.创建ROS包:
cd ~/catkin_ws/src
catkin_create_pkg husky_highlevel_controller roscpp sensor_msgs
2.在husky_highlevel_controller/src/下创建2个源文件:
cd ~/catkin_ws/src/husky_highlevel_controller/src/
touch husky_highlevel_controller_node.cpp husky_controller.cpp
husky_controller.cpp代码:
#include "husky_highlevel_controller/husky_controller.hpp"
namespace husky_controller{
HuskyController::HuskyController(ros::NodeHandle &node_handle):nodeHandle_(node_handle){
std::string topic;
if (! nodeHandle_.getParam("/laser_listener/laser_topic", topic)){
ROS_ERROR("Load the laser scan topic param fail!!");
}else{
HuskyController::laserSub_ =nodeHandle_.subscribe(topic, 1, &HuskyController::LaserCallBack, this);
ros::spin();
}
}
void HuskyController::LaserCallBack(const sensor_msgs::LaserScan::ConstPtr&msg){
unsigned long len = msg -> ranges.size();
std::vector<float> filtered_scan;
for (int i=0; i < len; ++i){
if (std::isnormal(msg->ranges[i])){
filtered_scan.push_back(msg->ranges[i]);
}
}
for (int j=0; j < filtered_scan.size(); ++j){
ROS_INFO_STREAM(filtered_scan[j]);
}
}
} //namespace husky_controller
husky_highlevel_controller_node.cpp代码:
#include <ros/ros.h>
#include "sensor_msgs/LaserScan.h"
#include "husky_highlevel_controller/husky_controller.hpp"
#include <stdio.h>
#include <string.h>
#include <math.h>
#include <iostream>
using namespace std;
int main(int argc, char ** argv){
ros::init(argc, argv, "laser_listener");
ros::NodeHandle node_handle;
husky_controller::HuskyController test(node_handle);
return 0;
}
3.创建头文件:
cd ~/catkin_ws/src/husky_highlevel_controller/include/husky_highlevel_controller/
touch husky_controller.hpp
husky_controller.hpp代码:
#include <ros/ros.h>
#include "sensor_msgs/LaserScan.h"
namespace husky_controller{
class HuskyController{
public:
HuskyController(ros::NodeHandle &node_handle);
private:
void LaserCallBack(const sensor_msgs::LaserScan::ConstPtr &msg);
ros::NodeHandle &nodeHandle_;
ros::Subscriber laserSub_;
};
} //namespace husky_controller
4.修改CMakeList.txt,文件在~/catkin_ws/src/huskg_highlevel_controller/路径下
修改为如下内容:
cmake_minimum_required(VERSION 3.0.2)
project(husky_highlevel_controller)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
sensor_msgs
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS roscpp sensor_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp src/husky_controller.cpp)
target_link_libraries(${PROJECT_NAME}_node
${catkin_LIBRARIES}
)
5.在包路径下新建launch文件夹,在文件夹里创建high_controller.launch文件
high_controller.launch代码:
<launch>
<include file="$(find husky_gazebo)/launch/husky_playpen.launch">
<arg name="laser_enabled" value="true"/>
</include>
<node pkg="husky_highlevel_controller" type="husky_highlevel_controller_node" name="laser_listener" output="screen">
<param name="laser_topic" value="/scan"/>
</node>
<node pkg="rviz" type="rviz" name="rviz"/>
</launch>
6.编译ROS包:
cd ~/catkin_ws
catkin_make
正常编译过程如上图,最后会在~/catkin/build/文件夹下生成编译结果:
7.启动launch文件
roslaunch husky_highlevel_controller high_controller.launch
正常启动会弹出RVIZ和Gazebo软件界面,
然后设置一下RVIZ:
(1)Fixed Frame修改为odom;
(2)点击左下角“Add”按钮,添加LaserSan选项,然后将LaserScan 的Topic设置为**/scan**,size设置为0.1
然后中间会显示出如图所示的一些线条(根据电脑性能,可能需要等一会才能显示)
另一边,Gazebo会显示出下图界面(最中心处的那个矩形就是我们的Husky无人车了,怎么控制它移动暂时还不会)
同时,回到启动launch的终端里,会发现不停的显示激光的扫描数据:
OK,此教程结束!
若需要打包后的全部源码,可以到https://download.csdn.net/download/xiangxiang613/13184023下载
补充:可能遇到的问题及解决办法
————————————————————————————————————————————
1.catkin_make报错:Permission denied
以下面的为例,不针对此教程:
解决办法:修改权限
sudo chmod ugo+wx build/.built_by
2.启动launch文件报错:Invalid roslaunch XML syntax: not well-formed (invalid token)
解决办法:这个是因为launch文件里的语法书写错误,根据对应的行和列定位和纠正问题即可。
附launch语法:https://www.cnblogs.com/wjyHIT2011/articles/6833388.html