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全书2-4章源代码-机器人操作系统及仿真应用-刘相权
机器人操作系统（ROS）及仿真应用
第 2 章 ROS安装与系统架构
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" >/etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt install ros-noetic-desktop-full
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
echo $ROS_PACKAGE_PATH
mkdir -p ~/catkin_ws/src #在主文件夹下创建 catkin_ws/src 空文件夹
cd ~/catkin_ws/src #进入 src 文件夹
catkin_init_workspace #初始化工作空间
cd ~/catkin_ws/ #回到 catkin_ws 文件夹
catkin_make #进行编译
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
cd ~/catkin_ws/src
catkin_create_pkg test std_msgs rospy roscpp
cd ~/catkin_ws/
catkin_make
rosstack find ros_tutorials
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
rosrun rqt_graph rqt_graph
sudo dpkg -i code_xxxx_amd64.deb #下载地址：https://code.visualstudio.com/Download
第 3 章 ROS 通信方式
cd ~/catkin_ws/src/
catkin_create_pkg turtle_vel_ctrl_pkg roscpp geometry_msgs
turtle_vel_ctrl_node.cpp
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "turtle_vel_ctrl_node");
ros::NodeHandle n;
ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 20);
while(ros::ok())
{
geometry_msgs::Twist vel_cmd;
vel_cmd.linear.x = 0.1;
vel_cmd.linear.y = 0;
vel_cmd.linear.z = 0;
vel_cmd.angular.x = 0;
vel_cmd.angular.y = 0;
vel_cmd.angular.z = 0;
vel_pub.publish(vel_cmd);
ros::spinOnce();
}
return 0;
}
Cmakelists.txt
add_executable(turtle_vel_ctrl_node src/turtle_vel_ctrl_node.cpp)
add_dependencies(turtle_vel_ctrl_node ${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries(turtle_vel_ctrl_node ${catkin_LIBRARIES})
cd
cd catkin_ws/
catkin_make
cd
roscore
rosrun turtlesim turtlesim_node
rosrun turtle_vel_ctrl_pkg turtle_vel_ctrl_node
vel_cmd.linear.x = 2;
vel_cmd.linear.y = 0;
vel_cmd.linear.z = 0;
vel_cmd.angular.x = 0;
vel_cmd.angular.y = 0;
vel_cmd.angular.z = 1.8;
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "turtle_vel_ctrl_node");
ros::NodeHandle n;
ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 20);
ros::Rate loopRate(2); //与 Rate::sleep()配合指定自循环频率
int count= 0;
while(ros::ok())
{
geometry_msgs::Twist vel_cmd;
vel_cmd.linear.x = 1;
vel_cmd.linear.y = 0;
vel_cmd.linear.z = 0;
vel_cmd.angular.x = 0;
vel_cmd.angular.y = 0;
vel_cmd.angular.z = 0;
count++;
while(count==5)
{
count=0;
vel_cmd.angular.z = 3.1415926;
}
vel_pub.publish(vel_cmd);
ros::spinOnce();
loopRate.sleep(); //按 loopRate(2)设置的 2HZ 将程序挂起
}
return 0;
}
rqt_graph
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
void callback(const geometry_msgs::Twist& cmd_vel)
{
ROS_INFO("Received a /cmd_vel message!");
ROS_INFO("Linear Velocity:[%f,%f,%f]",
cmd_vel.linear.x,cmd_vel.linear.y,cmd_vel.linear.z);
ROS_INFO("Angular Velocity:[%f,%f,%f]",
cmd_vel.angular.x,cmd_vel.angular.y,cmd_vel.angular.z);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "turtle_vel_rece_node");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("/turtle1/cmd_vel", 1000, callback);
ros::spin();
return 1;
}
add_executable(turtle_vel_rece_node src/turtle_vel_rece_node.cpp)
add_dependencies(turtle_vel_rece_node ${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries(turtle_vel_rece_node ${catkin_LIBRARIES})
cd
cd catkin_ws/
catkin_make
cd
roscore
rosrun turtlesim turtlesim_node
rosrun turtle_vel_ctrl_pkg turtle_vel_rece_node
rosrun turtle_vel_ctrl_pkg turtle_vel_ctrl_node
rqt_graph
cd catkin_ws/src/
catkin_create_pkg service_client_pkg roscpp std_msgs
cd service_client_pkg
mkdir srv
ServiceClientExMsg.srv
string name
---
bool in_class
bool boy
int32 age
string personality
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
#find_package(catkin REQUIRED COMPONENTS
#roscpp
#std_msgs
#)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
message_generation
std_msgs
std_srvs
)
#add_service_files(
#FILES
#Service1.srv
#Service2.srv
#)
add_service_files(
FILES
ServiceClientExMsg.srv
)
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
#INCLUDE_DIRS include
#LIBRARIES service_client_pkg
#CATKIN_DEPENDS roscpp std_msgs
#DEPENDS system_lib
#CATKIN_DEPENDS message_runtime
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES service_client_pkg
CATKIN_DEPENDS roscpp std_msgs
DEPENDS system_lib
CATKIN_DEPENDS message_runtime
)
cd
cd catkin_ws/
catkin_make
#include <service_client_pkg/ServiceClientExMsg.h>
service_example_node.cpp
#include <ros/ros.h>
#include <service_client_pkg/ServiceClientExMsg.h>
#include <iostream>
#include <string>
using namespace std;
bool infoinquiry (service_client_pkg::ServiceClientExMsgRequest& request,
service_client_pkg::ServiceClientExMsgResponse& response)
{
ROS_INFO("callback activated");
string input_name(request.name);
response.in_class=false;
if (input_name.compare("Tom")==0)
{
ROS_INFO("Student infomation about Tom");
response.in_class=true;
response.boy=true;
response.age = 20;
response.personality="outgoing";
}
if (input_name.compare("Mary")==0)
{
ROS_INFO("Student infomation about Mary");
response.in_class=true;
response.boy=false;
response.age = 21;
response.personality="introverted";
}
return true;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "service_example_node");
ros::NodeHandle n;
ros::ServiceServer service = n.advertiseService("info_inquiry_byname", infoinquiry);
ROS_INFO("Ready to inquiry names.");
ros::spin();
return 0;
}
add_executable(service_example_node src/service_example_node.cpp)
add_dependencies(service_example_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries(service_example_node ${catkin_LIBRARIES})
cd
cd catkin_ws/
catkin_make
cd
roscore
rosrun service_client_pkg service_example_node
rosservice call info_inquiry_byname 'Tom'
client_example_node.cpp
#include <ros/ros.h>
#include <service_client_pkg/ServiceClientExMsg.h>
#include <iostream>
#include <string>
using namespace std;
int main(int argc, char **argv)
{
ros::init(argc, argv, "client_example_node");
ros::NodeHandle n;
ros::ServiceClient client = n.serviceClient<service_client_pkg::ServiceClientExMsg>
("info_inquiry_byname");
service_client_pkg::ServiceClientExMsg srv;
string input_name;
while (ros::ok())
{
cout<<endl;
cout << "enter a name (q to quit): ";
cin>>input_name;
if (input_name.compare("q")==0)
{ return 0; }
srv.request.name = input_name;
if (client.call(srv))
{
if (srv.response.in_class)
{
if (srv.response.boy)
{ cout << srv.request.name << " is boy;" << endl; }
else
{ cout << srv.request.name << " is girl;" << endl; }
cout << srv.request.name << " is " << srv.response.age
<< " years old;" << endl;
cout << srv.request.name << " is " <<
srv.response.personality <<"."<< endl;
}
else
{ cout << srv.request.name << " is not in class" <<
endl; }
}
else
{
ROS_ERROR("Failed to call service info_inquiry_byname");
return 1;
}
}
return 0;
}
add_executable(client_example_node src/client_example_node.cpp)
add_dependencies(client_example_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries(client_example_node ${catkin_LIBRARIES})
cd
cd catkin_ws/
catkin_make
cd
roscore
rosrun service_client_pkg service_example_node
rosrun service_client_pkg client_example_node
cd catkin_ws/src/
catkin_create_pkg actionlib_example_pkg roscpp actionlib actionlib_msgs
cd actionlib_example_pkg
mkdir action
ActionlibExMsg.action
#goal definition
int32 whole_distance
---
#result definition
bool is_finish
---
#feedback
int32 moving_meter
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate actions in the 'action' folder
add_action_files(
FILES
ActionlibExMsg.action
)
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
actionlib_msgs # Or other packages containing msgs
)
cd
cd catkin_ws/
catkin_make
#include <actionlib_example_pkg/ActionlibExMsgaction.h>
actionlib_client_node.cpp
#include <actionlib/client/simple_action_client.h>
#include <actionlib_example_pkg/ActionlibExMsgAction.h>
//action 完成后调用此函数
void doneCb(const actionlib::SimpleClientGoalState& state,const actionlib_example_pkg::
ActionlibExMsgResultConstPtr& result)
{
ROS_INFO("Task completed!");
ros::shutdown(); //任务完成之后关闭节点
}
void activeCb() //action 的目标任务发送给 server 且开始执行时，调用此函数
{
ROS_INFO("Goal is active! The robot begin to move forward.");
}
//action 任务在执行过程中，server 对过程有反馈则调用此函数
void feedbackCb(const actionlib_example_pkg::ActionlibExMsgFeedbackConstPtr&
feedback)
{
//将服务器的反馈输出（机器人向前行进到第几米）
ROS_INFO("The robot has moved forward %d meter:", feedback->moving_meter);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "actionlib_client_node");
//创建一个 action 的 client，指定 action 名称为”moving_forward”
actionlib::SimpleActionClient< actionlib_example_pkg::ActionlibExMsgAction> client
("moving_forward",true);
ROS_INFO("Waiting for action server to start");
client.waitForServer();//等待服务器响应
ROS_INFO("Action server started");
//创建一个目标：移动机器人前进 10 米
actionlib_example_pkg::ActionlibExMsgGoal goal;
goal.whole_distance = 10;
//把 action 的任务目标发送给服务器，绑定上面定义的各种回调函数
client.sendGoal(goal,&doneCb,&activeCb,&feedbackCb);
ros::spin();
return 0;
}
add_executable(actionlib_client_node src/actionlib_client_node.cpp)
add_dependencies(actionlib_client_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries(actionlib_client_node ${catkin_LIBRARIES})
cd
cd catkin_ws/
catkin_make
actionlib_server_node.cpp
#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include <actionlib_example_pkg/ActionlibExMsgAction.h>
//服务器接受任务目标后，调用该函数执行任务
void execute(const actionlib_example_pkg:: ActionlibExMsgGoalConstPtr& goal,actionlib::
SimpleActionServer< actionlib_example_pkg:: ActionlibExMsgAction>* as)
{
ros::Rate r(0.5);
actionlib_example_pkg:: ActionlibExMsgFeedback feedback;
ROS_INFO("Task: The robot moves forward %d meters.", goal->whole_distance);
for(int i=1; i<=goal-> whole_distance; i++)
{
feedback.moving_meter = i;
as->publishFeedback(feedback); //反馈任务执行的过程
r.sleep();
}
ROS_INFO("Task completed!");
as->setSucceeded();}
int main(int argc, char** argv)
{
ros::init(argc, argv, "actionlib_server_node");
ros::NodeHandle n;
//创建一个 action 的 server，指定 action 名称为”moving_forward”
actionlib::SimpleActionServer<actionlib_example_pkg::ActionlibExMsgAction> server(n,
"moving_forward",boost::bind(&execute, _1, &server), false);
//服务器启动
server.start();
ros::spin();
return 0;
}
add_executable(actionlib_server_node src/actionlib_server_node.cpp)
add_dependencies(actionlib_server_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries(actionlib_server_node ${catkin_LIBRARIES})
cd
cd catkin_ws/
catkin_make
cd
roscore
rosrun actionlib_example_pkg actionlib_client_node
rosrun actionlib_example_pkg actionlib_server_node
rqt_graph
3.4参数服务器
cd catkin_ws/src/
catkin_create_pkg parameter_server_pkg roscpp std_msgs
para_setting.yaml
kinect_height: 0.34
kinect_pitch: 1.54
roscore
cd catkin_ws/src/parameter_server_pkg/launch
rosparam load para_setting.yaml
rosparam list
rosparam get /kinect_height
rosparam set /kinect_height 0.4
rosparam dump para_setting.yaml
para_load.launch
<launch>
<rosparam command="load" file="$(find parameter_server_pkg)/launch/para_setting.yaml" />
</launch>
roslaunch parameter_server_pkg para_load.launch
rosparam list
get_parameter_node.cpp
#include <ros/ros.h>
int main(int argc, char **argv)
{
ros::init(argc, argv, "get_parameter_node");
ros::NodeHandle nh; // 节点句柄
double kinect_height_getting, kinect_pitch_getting;//定义变量
if (nh.getParam("/kinect_height", kinect_height_getting))
{
ROS_INFO("kinect_height set to %f", kinect_height_getting);
}
else
{
ROS_WARN("could not find parameter value / kinect_height on parameter server");
}
if (nh.getParam("/kinect_pitch", kinect_pitch_getting))
{
ROS_INFO("kinect_pitch set to %f", kinect_pitch_getting);
}
else
{
ROS_WARN("could not find parameter value / kinect_pitch on parameter server");
}
}
add_executable(get_parameter_node src/get_parameter_node.cpp)
add_dependencies(get_parameter_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries(get_parameter_node ${catkin_LIBRARIES})
cd
cd catkin_ws/
catkin_make
roslaunch parameter_server_pkg para_load.launch
rosrun parameter_server_pkg get_parameter_node
第 4 章 ROS 实用工具
cd catkin_ws/src/
catkin_create_pkg tf_test_pkg roscpp tf geometry_msgs
#include <ros/ros.h> //tf_broadcaster.cpp
#include <tf/transform_broadcaster.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "tf_broadcaster");
ros::NodeHandle n;
ros::Rate loop_rate(100);
tf::TransformBroadcaster broadcaster;
tf::Transform base_link2base_laser;
base_link2base_laser.setOrigin(tf::Vector3(0.1, 0.0, 0.2));
base_link2base_laser.setRotation(tf::Quaternion(0, 0, 0, 1));
while(n.ok())
{
broadcaster.sendTransform(tf::StampedTransform(
base_link2base_laser,ros::Time::now(),"base_link","base_laser"))
;
//broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::Quaternion(0, 0, 0, 0), //tf::Vector3(1, 0.0, 0)),ros::Time::now(),"base_link", "base_laser"));
loop_rate.sleep();
}
return 0;
}
add_executable(tf_broadcaster src/tf_broadcaster.cpp)
add_dependencies(tf_broadcaster ${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries(tf_broadcaster ${catkin_LIBRARIES})
cd
cd catkin_ws/
catkin_make
#include <ros/ros.h> //tf_listener.cpp
#include <tf/transform_listener.h>
#include <geometry_msgs/PointStamped.h>
#include <iostream>
int main(int argc,char** argv)
{
ros::init(argc,argv,"tf_listener");
ros::NodeHandle n;
ros::Rate loop_rate(100);
tf::TransformListener listener;
geometry_msgs::PointStamped laser_pos;
laser_pos.header.frame_id = "base_laser";
laser_pos.header.stamp = ros::Time();
laser_pos.point.x =0.3;
laser_pos.point.y = 0;
laser_pos.point.z = 0;
geometry_msgs::PointStamped base_pos;
while(n.ok())
{
if (listener.waitForTransform("base_link","base_laser",ros::Time(0),ros::Duration(3)))
{
listener.transformPoint("base_link",laser_pos,base_pos);
ROS_INFO("pointpos in base_laser: (%.2f, %.2f. %.2f) ", laser_pos.point.x,
laser_pos.point.y, laser_pos.point.z);
ROS_INFO("pointpos in base_link: (%.2f, %.2f, %.2f) ", base_pos.point.x,
base_pos.point.y, base_pos.point.z);
tf::StampedTransform laserTransform;
listener.lookupTransform("base_link","base_laser", ros::Time(0), laserTransform);
std::cout << "laserTransform.getOrigin().getX(): " << laserTransform.getOrigin().getX() << std::endl;
std::cout << "laserTransform.getOrigin().getY(): " << laserTransform.getOrigin().getY() <<
std::endl;
std::cout << "laserTransform.getOrigin().getZ(): " << laserTransform.getOrigin().getZ() << std::endl;
}
loop_rate.sleep();
}
}
add_executable(tf_listener src/tf_listener.cpp)
add_dependencies(tf_listener ${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS})
target_link_libraries(tf_listener ${catkin_LIBRARIES})
cd
cd catkin_ws/
catkin_make
cd
roscore
rosrun tf_test_pkg tf_broadcaster
rosrun tf_test_pkg tf_listener
rqt_graph
rosrun rqt_tf_tree rqt_tf_tree
rosrun tf tf_echo /base_link base_laser
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
cd catkin_ws/src/
catkin_create_pkg launch_test_pkg
cd launch_test_pkg
mkdir launch
cd launch
touch turtle_key_control.launch
gedit turtle_key_control.launch
<launch>
<node pkg="turtlesim" name="turtle1" type="turtlesim_node"/>
<node pkg="turtlesim" name="turtle1_key" type="turtle_teleop_key"/>
</launch>
cd
cd catkin_ws/
catkin_make
cd
roslaunch launch_test_pkg turtle_key_control.launch
<launch>
<node pkg="mrobot_bringup" name="mrobot_bringup" type="mrobot_bringup" output="screen" />
<arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find mrobot_description)/urdf/mrobot_with_rplidar.urdf.xacro'" />
<param name="robot_description" command="$(arg urdf_file)" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node pkg="robot_state_publisher" name="state_publisher" type="robot_state_publisher">
<param name="publish_frequency" type="double" value="5.0" />
</node>
<node pkg="tf" name="base2laser" type="static_transform_publisher" args="0 0 0 0 0 0 1 /base_link /laser 50"/>
<node pkg="robot_pose_ekf" name="robot_pose_ekf" type="robot_pose_ekf">
<remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
<param name="freq" value="10.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="publish_tf" value="true"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="false"/>
<param name="vo_used" value="false"/>
<param name="output_frame" value="odom"/>
</node>
<include file="$(find mrobot_bringup)/launch/rplidar.launch" />
</launch>
<node pkg="pkg-name" name="node-name" type="executable-name" output="log|screen" />
<param name="param-name" value="param-value"/>
<param name="freq" value="10.0"/>
<rosparam command="load" value="path-to-param-file"/>
<arg name="arg-name" default="arg-value"/>
<arg name="demo" value="123"/>
<arg name="demo" default="123"/>
roslaunch pkg-name launch-file-name demo:=456
<remap from=" orig-topic-name" to="new-topic-name"/>
<remap from="chatter" to="demo/chatter"/>
<include file="$(find pkg-name)/launch/launch-file-name" ns="namespace" />
4.3
dpkg -l|grep gazebo
sudo apt-get install git
cd catkin_ws/src
git clone https://gitclone.com//github.com/6-robot/wpr_simulation.git
~/catkin_ws/src/wpr_simulation/scripts/install_for_noetic.sh
sudo apt-get install ros-noetic-navigation
cd ~/catkin_ws
catkin_make
roslaunch wpr_simulation wpb_simple.launch
rosrun wpr_simulation keyboard_vel_ctrl
cd catkin_ws/src
git clone https://gitclone.com//github.com/6-robot/wpb_home.git
sudo apt-get install ros-noetic-joy
sudo apt-get install ros-noetic-sound-play
cd
cd catkin_ws
catkin_make
roslaunch wpr_simulation wpb_simple.launch
roslaunch wpr_simulation wpb_rviz.launch
rosrun wpr_simulation demo_vel_ctrl
rosrun wpb_home_tutorials wpb_home_lidar_behavior
第6章 机器人建图与导航
roslaunch wpr_simulation wpb_gmapping.launch
rosrun wpr_simulation keyboard_vel_ctrl
rosrun map_server map_saver -f map
roslaunch wpr_simulation wpb_navigation.launch
rosrun wpr_simulation demo_simple_goal
标签：仿真,node,ros,catkin,相权,cd,pkg,vel,源代码 From： https://www.cnblogs.com/hncj2024/p/18600662