ros中rqt_plot画出速度曲线

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前言

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一、rqt_plot是什么？

一种工具，该工具是为了解决数据分析任务而创建的。

二、使用步骤

1. 代码

publish_node.cpp：

#include "ros/ros.h"
#include "std_msgs/String.h" //use data struct of std_msgs/String  
#include "mbot_linux_serial.h"
#include "topic_example/speed.h"
#include <sstream>
#include <iostream>
#include <math.h>

using namespace std;
//test send value
double testSend1 = 0.2;
double testSend2 = 0.4;
double testSend3 = 0.3;
double testSend4 = 0.3;
unsigned char testSend5 = 0x07;

//test receive value
double testRece1=0.0;                  
double testRece2=0.0;
double testRece3=0.0;
double testRece4=0.0;
unsigned char testRece5=0x00;

int main(int agrc,char **argv)
{
    ros::init(agrc,argv,"public_node");
    ros::NodeHandle nh;
    ros::Publisher my_pub = nh.advertise<topic_example::speed>("myspeed",1);

    topic_example::speed msg;
    ros::Rate loop_rate(50);
    
    //串口初始化
    serialInit();
    double t=0;
    while(ros::ok())
    {
        ros::spinOnce();
        //向STM32端发送数据，前两个为double类型，最后一个为unsigned char类型
	    writeSpeed(testSend1,testSend2,testSend3,testSend4,testSend5);
        //打印数据
	    ROS_INFO("send to stm32:%f,%f,%f,%f,%d\n",testSend1,testSend2,testSend3,testSend4,testSend5);
        //从STM32接收数据，输入参数依次转化为小车的线速度、角速度、航向角（角度）、预留控制位
	    readSpeed(testRece1,testRece2,testRece3,testRece4,testRece5);

        msg.a=testRece1;
        msg.b=testRece2;
        msg.c=testRece3;
        msg.d=testRece4;
        my_pub.publish(msg);

        //打印数据
	    ROS_INFO("recevie form STM32:%f,%f,%f,%f,%d\n",testRece1,testRece2,testRece3,testRece4,testRece5);

        loop_rate.sleep();
	t+=1.0/50.0;
    }
    return 0;
}
 

2.操作实现：

代码如下（示例）：

$ roscore 
$ rosrun topic_example publish_node
$ rqt_plot /myspeed

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三、速度参数更改；

不完善：

1. 代码

增加节点：
speed_publisher.py：

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# 该例程将发布/speed_info话题，自定义消息类型topic_example::Person

import rospy
from topic_example.msg import speed

def velocity_publisher():
	# ROS节点初始化
    rospy.init_node('speed_publisher', anonymous=True)

	# 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
    speed_info_pub = rospy.Publisher('/speed_info', speed, queue_size=10)

	#设置循环的频率
    rate = rospy.Rate(10) 
 
    while not rospy.is_shutdown():
		# 初始化learning_topic::Person类型的消息
    	speed_msg = speed()
    	speed_msg.a = 0.3;
    	speed_msg.b = 0.2;
    	speed_msg.c = 0.4;

		# 发布消息
        speed_info_pub.publish(speed_msg)
    	rospy.loginfo("Publsh speed message[%f, %f, %f]", 
				speed_msg.a, speed_msg.b, speed_msg.c)

		# 按照循环频率延时
        rate.sleep()

if __name__ == '__main__':
    try:
        velocity_publisher()
    except rospy.ROSInterruptException:
        pass

更改：
publish_node.cpp：

#include "ros/ros.h"
#include "std_msgs/String.h" //use data struct of std_msgs/String  
#include "mbot_linux_serial.h"
#include "topic_example/speed.h"
#include <sstream>
#include <iostream>
#include <math.h>

using namespace std;
//test send value
//double testSend1 = 0.2;
//double testSend2 = 0.4;
//double testSend3 = 0.3;
//double testSend4 = 0.3;
//unsigned char testSend5 = 0x07;

//test receive value
double testRece1=0.0;                                               
double testRece2=0.0;
double testRece3=0.0;
double testRece4=0.0;
unsigned char testRece5=0x00;

// 接收到订阅的消息后，会进入消息回调函数
void speedInfoCallback(const topic_example::speed::ConstPtr& msg)
{
    // 将接收到的消息打印出来
    ROS_INFO("Subcribe speed Info: a:%f  b:%f  c:%f", 
			 msg->a, msg->b, msg->c);

//test send value
double testSend1 =msg->a;
double testSend2 =msg->b;
double testSend3 = msg->c;
double testSend4 = 0;
unsigned char testSend5 = 0x07;

        //向STM32端发送数据，前两个为double类型，最后一个为unsigned char类型
	    writeSpeed(testSend1,testSend2,testSend3,testSend4,testSend5);
        //打印数据
	    ROS_INFO("send to stm32:%f,%f,%f,%f,%d\n",testSend1,testSend2,testSend3,testSend4,testSend5);


}

int main(int agrc,char **argv)
{
    ros::init(agrc,argv,"public_node");
    ros::NodeHandle nh;
    ros::Publisher my_pub = nh.advertise<topic_example::speed>("myspeed",1);

// 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 = nh.subscribe("/speed_info", 10, speedInfoCallback);

    topic_example::speed msg;
    ros::Rate loop_rate(50);
    
    //串口初始化
    serialInit();
    double t=0;
    while(ros::ok())
    {
        ros::spinOnce();

        //从STM32接收数据，输入参数依次转化为小车的线速度、角速度、航向角（角度）、预留控制位
	    readSpeed(testRece1,testRece2,testRece3,testRece4,testRece5);

        msg.a=testRece1;
        msg.b=testRece2;
        msg.c=testRece3;
        msg.d=testRece4;
        my_pub.publish(msg);

        //打印数据
	    ROS_INFO("recevie form STM32:%f,%f,%f,%f,%d\n",testRece1,testRece2,testRece3,testRece4,testRece5);
        loop_rate.sleep();
	t+=1.0/50.0;
    }
    return 0;
}
 

2.操作实现：

代码如下（示例）：

$ roscore 
$ rosrun topic_example publish_node
$ rqt_plot /myspeed

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总结

以上就是今天要讲的内容，本文仅仅简单介绍了 rqt_plot 的使用，而 rqt_plot 提供了大量能使我们快速便捷地处理数据的函数和方法。