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ROS1demo

referencing ROS | autolabor

松耦合

img

WorkSpace --- 自定义的工作空间
    |--- build:编译空间，用于存放CMake和catkin的缓存信息、配置信息和其他中间文件。
    |--- devel:开发空间，用于存放编译后生成的目标文件，包括头文件、动态&静态链接库、可执行文件等。
    |--- src: 源码
        |-- package：功能包(ROS基本单元)包含多个节点、库与配置文件，包名所有字母小写，只能由字母、数字与下划线组成
            |-- CMakeLists.txt 配置编译规则，比如源文件、依赖项、目标文件
            |-- package.xml 包信息，比如:包名、版本、作者、依赖项...(以前版本是 manifest.xml)
            |-- scripts 存储python文件
            |-- src 存储C++源文件
            |-- include 头文件
            |-- msg 消息通信格式文件
            |-- srv 服务通信格式文件
            |-- action 动作格式文件
            |-- launch 可一次性运行多个节点 
            |-- config 配置信息
        |-- CMakeLists.txt: 编译的基本配置

通讯机制

话题通信

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服务通信

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参数服务器

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action—具有服务特性的话题通信

img

动态参数—具有服务器特性的服务通信

动态参数

工具命令

  • node
rosnode list
rosnode info
  • Topic communication: publish and subscribe
rqt_graph | rostopic list                                      # get <TOPIC_NAME>
rostopic info <TOPIC_NAME>                                     # get <TOPIC_TYPE>
rostopic find <TOPIC_TYPE>									   # get accurate <TOPIC_NAME>
rosmsg info <TOPIC_TYPE>                                       # get accurate <TOPIC_FORMAT>
rostopic echo <TOPIC_NAME>                                     # test1
rostopic pub -r <NUM> <TOPIC_NAME> <Tab x2>                    # test2

rosmsg package <PACKAGE_NAME>								   # get <TOPIC_FORMAT>
  • Service communication: request and response
rqt_graph\rostservice list                                     # get <SERVICE_NAME>
rosservice info <SERVICE_NAME>                                 # get <SERVICE_TYPE> 
rosservice find <SERVICE_TYPE>						     	   # get accurate <SERVICE_NAME>
rossrv info <SERVICE_TYPE>                                     # get <SERVICE_FORMAT>
rosservice call <SERVICE_NAME> <Tab>                           # test1

rossrv package <PACKAGE_NAME>								   # get  <SERVICE_FORMAT>
  • Parameter server: parameter sharing
rqt_graph | rostparam list                                     # index <PARAM_NAME>
rosparam get <PARAM_NAME>                                      # get <PARAM_VALUE>
rosparam set <PARAM_NAME> <Tab>  ||rosrun || launchFile        # set <PARAM_NAME>
  • tf：坐标转换关系可视化
rosrun tf2_tools view_frames.py
  • urdf/xacro：机器人仿真文件生成与检查
rosrun xacro xacro xxx.xacro > xxx.urdf
check_urdf xxx.urdf
urdf_to_graphiz xxx.urdf
  • rosbag：ros仿真记录
rosbag record -a -O <file> 
rosbag info <file>
rosbag play <file>
  • plugin_nodelet
<launch>
    <node pkg="nodelet" type="nodelet" name="Manager" args="manager" output="screen" />
    <node pkg="nodelet" type="nodelet" name="node1" args="load plugin_nodelet/nodelet Manager" output="screen" >
        <param name="value" value="100" />
    </node>
    <node pkg="nodelet" type="nodelet" name="node2" args="load plugin_nodelet/nodelet Manager" output="screen" >
        <param name="value" value="-50" />
        <remap from="/node2/in" to="/node1/out" />
    </node>
</launch>
  • rqt：ros命令集成GUI
    • topic|rqt_plot：话题信息发布和监视
    • service：服务请求
    • rqt_graph：节点关系网
    • rqt_console：日志过滤
    • rviz|rosrun tf2_tools view_frames.py：tf坐标系
    • rqt_bag：录制重放信息发布
    • dynamic reconfigure：动态参数
  • rviz：可视化常用数据与服务

VScode

cd <WORKSPACE_NAME> & code .

  • .vscode/tasks.json：ctrl + shift + B —>catkin_make
{
	"version": "2.0.0",
	"tasks": [
		{
			"label": "catkin_make:debug", 
			"type": "shell",
			"command": "catkin_make",
			"args": [],
			"group": {"kind":"build","isDefault":true},
			"presentation": {
				"reveal": "always"
			},
			"problemMatcher": "$msCompile"
		}
	]
}
  • .vscode/c_cpp_properties.json：code hints —> includePath/c++17
{
  "configurations": [
    {
      "browse": {
        "databaseFilename": "${default}",
        "limitSymbolsToIncludedHeaders": false
      },
      "includePath": [        
        "/opt/ros/noetic/include/**",
        "/usr/include/**",
        "../<WORKSPACE_NAME>/src/<PACKAGE_NAME>/include/**",
        "../<WORKSPACE_NAME>/devel/include/**", 
      ],
      "name": "ROS",
      "intelliSenseMode": "gcc-x64",
      "compilerPath": "/usr/bin/gcc",
      "cStandard": "gnu11",
      "cppStandard": "c++17"      
    }
  ],
  "version": 4
}
  • .vscode/settings.json：code hints —> python.autoComplete.extraPaths
"python.autoComplete.extraPaths": [
    "/opt/ros/noetic/lib/python3/dist-packages",
    "../<WORKSPACE_NAME>/devel/lib/python3/dist-packages"
]

命名空间

重名问题：/全局—>topicnamespace相对—>nodename私有

  • package(no solution)

  • node(no samenode)

//rosrun
rosrun <package> <exe_name> __ns:=/<namespace>
rosrun <package> <exe_name> __name:=<othername>

//.launch
<node name="<othername>" ns="<namespace>"/>

//code
ros::init(map,...,ros::init_options::AnonymousName)
rospy.init_node(...,anonymous=True)

//通过argv修改参数
  • topic(Chaotic communication)
//rosrun
rosrun <package> <exe_name> /oldtopic:=/newtopic

//.launch
<remap from="oldtopic" to="newtopic" />

//code
nh.advertise<>("/全局话题");
nh.advertise<>("相对话题");
ros::Nodehandle nh("私有空间");nh.advertise<>("私有话题");/rospy.Publisher("~私有话题")

//通过argv修改参数
  • param(cover)
//rosrun(默认nodename私有空间命名)
rosrun <package><exe_name> _<paramname>:=<paramvalue>

//.launch
<rosparam  ns="<namespace(全局命名)>" />
<param (私有命名)/>

//code
ros::param::set("/全局参数");
ros::param::set("相对参数");
ros::param::set("~私有参数");

//通过argv修改参数

分布式

roscore主机、rosrun从机

  • 不同计算机处于同一网络中，虚拟机网络桥接模式

  • 设置固定IP—可直接通过wired setting

  • /etc/hosts定位分布式DNS ping [ ifconfig hostname]

  • ~/.bashrc分布式定位主机IP

    export ROS_MASTER_URI=http://主机IP:11311
export ROS_HOSTNAME=本机IP

  • source ~/.bashrc

  • 主机启动roscore，分布式rosrun

自定义

sudo ln -s /usr/bin/python3 /usr/bin/python

  1. 创建工作空间并初始化

    mkdir -p <WORKSPACE_NAME>/src
cd <WORKSPACE_NAME>
catkin_make

  2. 创建功能包并添加依赖package.xml

    cd src
catkin_create_pkg <PACKAGE_NAME> roscpp rospy stdmsgs ...
    <!-- 编译时功能包依赖 -->
<build_depend><DEPEDENCE></build_depend>
<!-- 运行时功能包依赖 -->
<exec_depend><DEPEDENCE></exec_depend>
    
<!-- 功能 -->
<export>
    1.<metapackage />
    	- CMakeLists.txt
    		- cmake_minimum_required(VERSION 3.0.2)
			- project(demo)
			- find_package(catkin REQUIRED)
			- catkin_metapackage()
    2.<<BASE_PACKAGE_NAME> plugin="${prefix}/<plugin>.xml" />
        - rospack plugins --attrib=plugin <<BASE_PACKAGE_NAME>
</export>

  3. 编辑源文件src \ scripts 通信文件msg \ srv \ action \ cfg 头文件 include/<PACKAGE_NAME>

    cd  <PACKAGE_NAME>
vim src/<EXE_FILE_NAME>.cpp
vim scripts/<EXE_FILE_NAME>.py
vim msg/<MESSAGE>.msg
vim srv/<service>.srv

  4. 编辑配置Cmakelist.txt

    #  编译时功能包依赖
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  <PACKAGE_NAME>
)
# 运行时功能包依赖
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES demo01_hello_vscode
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
#  DEPENDS system_lib
)

# msg源文件配置
add_message_files(
  FILES
  <MESSAGE>.msg
)
# srv源文件配置
add_service_files(
  FILES
  <SERVICE>.srv
)
# 消息文件生成依赖配置
generate_messages(
  DEPENDENCIES
  std_msgs
)

# 头文件配置
include_directories(
include
  ${catkin_INCLUDE_DIRS}
)
add_library(<HEAD>
  include/<PACKAGE_NAME><HEAD>.h
  src/<HEAD>.cpp
)

# cpp执行配置
add_executable(<EXE_FILE_NAME>
  src/<EXE_FILE_NAME>.cpp
)

# cpp编译配置
add_dependencies(<HEAD> ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(<EXE_FILE_NAME> ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(<HEAD>
  ${catkin_LIBRARIES}
)
target_link_libraries(<EXE_FILE_NAME>
  <HEAD>
  ${catkin_LIBRARIES}
)

#py执行配置
catkin_install_python(PROGRAMS 
  scripts/<EXE_FILE_NAME>.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

    cpp：cd <WORKSPACE_NAME> &catkin_make

    py：chmod +x *.py

  5. 测试运行

    cd <WORKSPACE_NAME>
source ./devel/setup.bash
    roscore
rosrun <PACKAGE_NAME> <EXE_FILE_NAME>
    cd  <PACKAGE_NAME>
touch launch/<LAUNCH_FILE_NAME>.launch
    <launch deprecated = "声明">
    <rosparam 
    	command="load|dump|delete" 
        file="$(find <package>)/launch/<param>.yaml" 
        param="<name>" 
        ns="<namespace>"      
    />
    <arg name="xxx" value="xxx" default="xxx" doc="<describe>"/>  
    <!---value="$(arg <name>)"--->
    <node 
    	pkg="<package>" 
        type="<exe>" 
        name="<nodename>" 
        args="xxx xxx" 
        output="log|screen" 
        respawn= respawn_delay=" N" 
        required="true|false" 
        ns="<namespace>" 
        machine="<machineposition>" 
        clear_params="true|false"
    />
    	<remap from="oldtopic" to="newtopic" />
    	<param name="xxx" type="xxx" value="xxx" />
    <include 
        file="$(find <package>)/launch/<launch>.launch" 
        ns="<namespace>"
    />
    <group ns="<namespace>" clear_params="true|false">
    </group>
</launch>
    roslaunch  <PACKAGE_NAME> <LAUNCH_FILE_NAME>.launch

高层技能

仿真：urdf/xacro —> [gazebo (environment)] —> [control(Pub&Sub topic/tf)] —> launch rviz

导航

$$ In\ transform\ of\ map \leftarrow odom \leftarrow base_link \or base_footprint\\ $$

$$ laser \xrightarrow[SLAM]{scan\rightarrow map} mapserver \and odometer \xrightarrow[acml]{scan\and map \and odom\rightarrow pose} action \xrightarrow[move_base]{goal \and costmap \rightarrow plan_path \rightarrow cmd_vel} base $$

$$ camera \xrightarrow[depthimage_to_laserscan]{image\rightarrow scan}mapserver $$

img

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Some demos for ROS1 basic operation

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