ROS学习笔记

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教程

安装及入门

vi /etc/apt/sources.list.d/ros-latest.list #deb http://packages.ros.org/ros/ubuntu trusty main
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
sudo apt-key add ros.key
sudo apt-get update
sudo apt-get install ros-indigo-desktop-full
sudo apt-get install ros-indigo-turtlesim
sudo rosdep init
rosdep update
source /opt/ros/indigo/setup.bash
export | grep ROS
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
#功能包/软件包
rospack list
rospack find package-name
rospack find turtle
rosls package-name
roscd package-name
rosnode list
#节点
roscore
rosrun package-name executable-name
rosnode info node-name
rosnode kill node-name
# 话题和消息
rqt_graph
rostopic list
rostopic echo topic-name
rostopic echo /turtle1/cmd_ve
rostopic hz topic-name
rostopic bw topic-name
rostopic info topic-name
rostopic info /turtle1/color_sensor
rosmsg show message-type-name
rosmsg show turtlesim/Color
rostopic pub –r rate-in-hz topic-name message-type message-content
rostopic pub –r 1 /turtle1/cmd_vel geometry_msgs/Twist ’[2,0,0]’ ’[0,0,0]’
rostopic pub –r 1 /turtle1/cmd_vel geometry_msgs/Twist ’[0,0,0]’ ’[0,0,1]’
rosrun turtlesim turtlesim_node __name:=A
rosrun turtlesim turtlesim_node __name:=B
rosrun turtlesim turtle_teleop_key __name:=C
rosrun turtlesim turtle_teleop_key __name:=D
roswtf

编写ROS程序

catkin_create_pkg package-name
catkin_create_pkg agitr

<?xml version ="1.0"?>
<package>
    <name>agir </name>
    <version >0.0.1 </version >
    <description >
        Examples from A Gentle Introduction to ROS
    </description >
    <maintainer email="jokane@cse.sc.edu">
        Jason O' Kane
    </maintainer >
    <license >TODO</ license >
    <buildtool_depend>catkin </buildtool_depend>
    <build_depend>geometry_msgs</build_depend>
    <exec_depend>geometry_msgs</exec_depend>
    <build_depend>turtlesim </build_depend>
    <exec_depend>turtlesim </exec_depend>
</package>

 // This is a ROS version of the standard "hello , world"
 // program.

 // This header defines the standard ROS classes .
 #include <ros/ros.h>

 int main ( int argc , char ** argv ) {
    // Initialize the ROS system .
    ros::init ( argc , argv , "hello_ros" ) ;

    // Establ ish this program as a ROS node .
    ros::NodeHandle nh ;

    // Send some output as a log message .
    ROS_INFO_STREAM( " Hello , ROS! " ) ;
 }

# What version of CMake is needed ?
cmake_minimum_required (VERSION 2 . 8 . 3 )

# Name of this package .
project ( agitr )
# Find the catkin build system , and any other packages on
# which we depend .
find_package ( catkin REQUIRED COMPONENTS roscpp )

# Declare our catkin package .
catkin_package ( )

# Specify locations of header files .
include_directories ( include ${catkin_INCLUDE_DIRS } )

# Declare the executable , along with its sourcefiles . If
# there are multiple executables ,use multiple copies of
# this line .
add_executable ( hello hello.cpp )

# Specify libraries against which to link. Again , this
# line should be copied for each distinct executable in
# the package .
target_link_libraries ( hello ${catkin_LIBRARIES })

catkin_make
source devel/setup.bash
rosrun agitr hello

// 发布消息
// This program publishes randomly−generated velocity
// messages for turtlesim .
#include <ros / ros.h>
#include <geometry_msgs / Twist . h> // For geometry_msgs:: Twist
#include <stdlib.h> // For rand() and RAND_MAX

int main ( int argc , char ** argv ) {
    // Initialize the ROS system and become a node .
    ros::init ( argc , argv , " publish _ velocity " ) ;
    ros::NodeHandle nh ;

    // Create a publisher obj ect .
    ros::Publisher pub = nh.advertise<geometry_msgs::Twist >(
    " turtle1 /cmd_vel" , 1 0 0 0 ) ;

    // Seed the random number generator .
    srand ( time ( 0 ) ) ;

    // Loop at 2Hz until the node is shut down.
    ros::Raterate ( 2 ) ;
    while ( ros::ok ( ) ) {
        // Create and fill in the message . The other four
        // fields , which are ignored by turtl esim , default to 0.
        geometry_msgs : : Twist msg ;
        msg.linear.x = double ( rand ( ) ) / double (RAND_MAX) ;
        msg.angular.z = 2* double ( rand ( ) )/double (RAND_MAX) − 1 ;

        // Publish the message .
        pub.publish ( msg ) ;

        // Send a message to rosout with the details .
        ROS_INFO_STREAM( "Sending random velocity command : "
        << " linear=" << msg.linear.x
        << " angular=" << msg.angular.z) ;

        // Wait untilit's time for another iteration .
        rate.sleep ( ) ;
    }
}

rosrun agitr pubvel
rosrun turtlesim turtlesim_node

// This program subscribes to turtle1/pose and shows its
// messages on the screen .
#include <ros / ros.h>
#include <turtlesim / Pose.h>
#include <iomanip> // for std::setprecision and std::fixed

// A callback function . Executed each time a new pose
// message arrives .
void poseMessageReceived ( const turtlesim::Pose& msg ) {
    ROS_INFO_STREAM( std::setprecision ( 2 ) << std::fixed
    << " position =(" << msg . x << " , " << msg . y << " ) "
    << " *direction=" << msg . theta ) ;
}

int main ( int argc , char ** argv ) {
    // Initialize the ROS system and become a node .
    ros::init ( argc , argv , " subscribe_to _pose " ) ;
    ros::NodeHandle nh ;

    // Create a subscriber object .
    ros::Subscriber sub = nh.subscribe ( " turtle1/pose " ,1000,
    &poseMessageReceived ) ;

    // Let ROS take over .
    ros::spin ( ) ;
}

日志消息

// This program periodical ly generates log messages at
// various severity levels .
#include <ros/ros.h>

int main (int argc,char **argv) {
    // Initialize the ROS system and become a node .
    ros::init(argc, argv, "count_and_log");
    ros::NodeHandle nh;

    // Generate log messages of varying severi ty regularly .
    ros::Rate rate (10);
    for(inti=1; ros::ok(); i++){
        ROS_DEBUG_STREAM("Counted?to?"<<i);
        if((i%3)==0){
            ROS_INFO_STREAM(i<<"?is?divisible?by?3.");
        }
        if((i%5)==0){
            ROS_WARN_STREAM(i<<"?is?divisible?by?5.");
        }
        if((i%10)==0){
            ROS_ERROR_STREAM(i<<"?is?divisible?by?10.");
        }
        if((i%20)==0){
            ROS_FATAL_STREAM(i<<"?is?divisible?by?20.");
        }
        rate.sleep();
    }
}

// This program generates a single log message at each
// severity level .
#include <ros/ros.h>

int main ( int argc , char **argv ) {
    ros::init(argc, argv, "log_once");
    ros::NodeHandle nh ;

    while( ros::ok( )){
        ROS_DEBUG_STREAM_ONCE( "This␣ appear s␣ only␣ once . " ) ;
        ROS_INFO_STREAM_ONCE( "This␣ appear s␣ only␣ once . " ) ;
        ROS_WARN_STREAM_ONCE( "This␣ appear s␣ only␣ once . " ) ;
        ROS_ERROR_STREAM_ONCE( "This␣ appear s␣ only␣ once . " ) ;
        ROS_FATAL_STREAM_ONCE( "This␣ appear s␣ only␣ once . " ) ;
    }
}

// This program generates log messages at varying severity
// levels, throttled to various maximum speeds.
#include <ros/ros.h>

int main (int argc, char argv) {
    ros::init (argc, argv, "log_throttled");
    ros::NodeHandle nh ;

    while(ros::ok( )){
        ROS_DEBUG_STREAM_THROTTLE(0.1,
        "This␣ appears␣ every␣ 0.1 seconds." ) ;
        ROS_INFO_STREAM_THROTTLE(0.3,
        "This␣ appears␣ every␣ 0.3 seconds." ) ;
        ROS_WARN_STREAM_THROTTLE(0.5,
        "This␣ appears␣ every␣ 0.5 seconds." ) ;
        ROS_ERROR_STREAM_THROTTLE(1.0,
        "This␣ appears␣ every␣ 1.0 seconds." ) ;
        ROS_FATAL_STREAM_THROTTLE(2.0,
        "This␣ appears␣ every␣ 2.0 seconds." ) ;
    }
}
// [${severity}] [${time}]: ${message}

rostopic echo /rosout
rqt_console
# ~/.ros/log/run_id/rosout.log
rosparam get /run_id
rosclean check
rosclean purge
rosservice call /node-name/set_logger_level ros.package-name leve
rosservice call /count_and_log/set_logger_level ros.agitr DEBUG
rqt_logger_level

计算图源命名

• 全局名称 相对名称 私有名称 匿名名称

// This program starts with an anonymous name, which
// allows multiple copies to execute at the same time ,
// without needing to manually create distinct names
// for each of them.
#include <ros/ros.h>

int main ( int argc, char **argv ) {
    ros::init ( argc, argv, "anon",
    ros::init_options::AnonymousName );
    ros::NodeHandle nh ;
    ros::Rate rate (1) ;
    while (ros::ok( )) {
        ROS_INFO_STREAM( "This␣ message␣ is␣ from␣ " << ros::this_node::getName ( ));
        rate.sleep( );
    }
}

启动文件

<launch>
    <node
        pkg="turtlesim "
        type="turtlesim_node"
        name="turtlesim "
        respawn="true "
        />
    <node
        pkg="turtlesim "
        type="turtle_teleop_key"
        name="teleop_key"
        required="true "
        launch −prefix="xterm −e"
    />
    <node
        pkg="agitr "
        type="subpose"
        name="pose_subscriber "
        output="screen "
    />
</launch>

<launch>
    <node
        name="turtlesim_node"
        pkg="turtlesim "
        type="turtlesim_node"
        ns="sim1"
    />
    <node
        pkg="turtlesim "
        type="turtle_teleop_key"
        name="teleop_key"
        required="true "
        launch −prefix="xterm −e"
        ns="sim1"
    />
    <node
        name="turtlesim_node"
        pkg="turtlesim "
        type="turtlesim_node"
        ns="sim2"
    />
    <node
        pkg="agitr "
        type="pubvel"
        name="velocity_publisher "
        ns="sim2"
    />
</launch>

roslaunch package-name launch-file-name
roslaunch agitr example.launch
roslaunch –v package-name launch-file-name

// This program subscribes to turtle1/cmd_vel and
// republishes on turtle1/cmd_vel_reversed ,
// with the signs inverted .
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

ros::Publisher *pubPtr ;

void commandVelocityReceived (
const geometry_msgs::Twist& msgIn
) {
geometry_msgs::Twist msgOut ;
msgOut.linear.x = −msgIn.linear. x ;
msgOut.angular.z = −msgIn.angular.z ;
pubPtr−>publish (msgOut) ;
}

int main( int argc , char ∗∗ argv ) {
    ros::init ( argc , argv , " reverse_velocity ") ;
    ros::NodeHandle nh ;

    pubPtr = new ros::Publisher (
    nh.advertise<geometry_msgs::Twist>( " turtle1/cmd_vel_reversed" , 1000) ) ;

    ros::Subscriber sub = nh.subscribe ( " turtle1/cmd_vel" , 1000 , &commandVelocityReceived ) ;

    ros::spin () ;

    delete pubPtr ;
}

reverse.launch

<launch>
    <node
        pkg="turtlesim "
        type="turtlesim_node"
        name="turtlesim "
    >
    <remap
        from="turtle1 /cmd_vel"
        to="turtle1 /cmd_vel_reversed"
    />
    </node>
    <node
        pkg="turtlesim "
        type="turtle_teleop_key"
        name="teleop_key"
        launch −prefix="xterm −e"
    />
    <node
        pkg="agitr "
        type="reverse_cmd_vel"
        name="reverse_velocity "
    />
</launch>

triplesim.luanch

<launch>
    <include
        file ="$( find agitr )/doublesim . launch"
    />
    <arg
        name="use_sim3"
        default ="0"
    />

    <group ns="sim3" if ="$( arg use_sim3 )" >
        <node
            name="turtlesim_node"
            pkg="turtlesim "
            type="turtlesim_node"
        />
        <node
            pkg="turtlesim "
            type="turtle_teleop_key"
            name="teleop_key"
            required="true "
            launch−prefix="xterm −e"
        />
    </group>
</launch>

参数

rosparam list
rosparam get parameter_name
rosparam get /rosdistro
rosparam get namespace
rosparam get /
rosparam set parameter_name parameter_value
rosparam set /duck_colors/huey red
rosparam set /duck_colors/dewey blue
rosparam set /duck_colors/louie green
rosparam set /duck_colors/webby pink
rosparam dump filename namespace
rosparam load filename namespace
rosparam get /background_r
rosparam get /background_g
rosparam get /background_b
rosparam set /background_r 255
rosparam set /background_g 255
rosparam set /background_b 0
rosservice call /clear

// This program waits for a turtlesim to start up , and
// changes its background color .
// C++编写的 set_bg_color.cpp 例程，设置 turtlesim 窗口背景颜色
#include <ros/ros . h>
#include <std_srvs/Empty . h>

int main( int argc , char ** argv ) {
    ros::init ( argc , argv , "set_bg_color") ;
    ros::NodeHandle nh ;

    // Wait until the clear service is available , which
    // indicates that turtlesim has started up , and has
    // set the background color parameters .
    ros::service::waitForService (" clear ") ;

    // Set the background color for turtlesim ,
    // overriding the default blue color .
    ros::param::set ("background_r" , 255) ;
    ros::param::set ("background_g" , 255) ;
    ros::param::set ("background_b" , 0) ;

    // Get turtlesim to pick up the new parameter values .
    ros::ServiceClient clearClient = nh . serviceClient <std_srvs::Empty>("/ clear ") ;
    std_srvs::Empty srv ;
    clearClient . call ( srv ) ;

}

// C++编写的 pubvel_with_max.cpp 例程，通过从参数中读取线性速度来扩展原来的 pubvel.cpp 例程
// This program publishes random velocity commands, using
// a maximum linear velocity read from a parameter.
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <stdlib.h>

int main( int argc , char ** argv ) {
    ros::init ( argc , argv , " publish_velocity ") ;
    ros::NodeHandle nh ;
    ros::Publisher pub = nh.advertise <geometry_msgs::Twist>(" turtle1/cmd_vel" , 1000) ;
    srand ( time (0) ) ;

    // Get the maximum velocity parameter .
    const std::string PARAM_NAME = "~max_vel" ;
    double maxVel ;
    bool ok = ros::param::get (PARAM_NAME, maxVel) ;
    if ( !ok) {
        ROS_FATAL_STREAM("Could␣ not␣ get␣ parameter " << PARAM_NAME) ;
        exit (1) ;
    }

    ros::Rate rate (2) ;
    while ( ros::ok () ) {
        // Create and send a random velocity command.
        geometry_msgs::Twist msg ;
        msg.linear.x = maxVel* double ( rand () )/double (RAND_MAX) ;
        msg.angular.z = 2*double ( rand () )/double (RAND_MAX) −1;
        pub.publish(msg) ;

        // Wait untilit's time for another iteration .
        rate.sleep () ;
    }
}

rosparam set /publish_velocity/max_vel 0.1

<!-- 启动文件 fast_yellow.launch，启动 7.1 和 7.2 中的例子并且设置 max_vel 参数 -->
<launch>
    <node
        pkg="turtlesim "
        type="turtlesim_node"
        name="turtlesim "
    />
    <node
        pkg="agitr "
        type="pubvel_with_max"
        name="publish_velocity "
    >
        <param name="max_vel" value="3" />
    </node>
    <node
        pkg="agitr "
        type="set_bg_color"
        name="set_bg_color"
    />
</launch>

服务

rosservice list
rosnode info node-name
rosservice node service-name
rosservice info service-name
rosservice info /spawn
rossrv show service-data-type-name
rossrv show turtlesim/Spawn