ros2 humble @ ubuntu22.04
VScode
第3章 ROS2编程基础
3.1 节点与软件包
3.1.1 创建workspace 然后package
ubuntu@ubuntu-Lenovo-XiaoXin-14API-2019:~$ mkdir -p ros2_ws_cha3 ubuntu@ubuntu-Lenovo-XiaoXin-14API-2019:~$ mkdir -p ros2_ws_cha3/src ubuntu@ubuntu-Lenovo-XiaoXin-14API-2019:~$ cd ~/ros2_ws-cha3/src ubuntu@ubuntu-Lenovo-XiaoXin-14API-2019:~/ros2_ws_cha3/src$ ros2 pkg create my_pkg going to create a new package package name: my_pkg destination directory: /home/ubuntu/ros2_ws_cha3/src package format: 3 version: 0.0.0 description: TODO: Package description maintainer: ['ubuntu <ubuntu@todo.todo>'] licenses: ['TODO: License declaration'] build type: ament_cmake dependencies: [] creating folder ./my_pkg creating ./my_pkg/package.xml creating source and include folder creating folder ./my_pkg/src creating folder ./my_pkg/include/my_pkg creating ./my_pkg/CMakeLists.txt[WARNING]: Unknown license 'TODO: License declaration'. This has been set in the package.xml, but no LICENSE file has been created. It is recommended to use one of the ament license identitifers: Apache-2.0 BSL-1.0 BSD-2.0 BSD-2-Clause BSD-3-Clause GPL-3.0-only LGPL-3.0-only MIT MIT-0
在VScode中打开工作空间 ros2_ws_cha3。在VScode文件树中观察工作空间中的文件结构。
3.1.2 编写node
3.1.2.1 编写节点代码
// 包含ROS 2 C++客户端库的头文件 #include "rclcpp/rclcpp.hpp"int main(int argc, char * argv[]) {// 初始化ROS 2系统// 处理命令行参数并设置必要的通信环境 rclcpp::init(argc, argv);// 创建一个共享指针指向ROS 2节点对象// std::make_shared<rclcpp::Node>("my_node") 创建了一个名为"my_node"的节点// auto关键字自动推导节点类型为 std::shared_ptr<rclcpp::Node>auto node = std::make_shared<rclcpp::Node>("my_node");// 使用ROS 2的日志系统输出信息// RCLCPP_INFO宏用于输出INFO级别的日志// node->get_logger() 获取节点的日志记录器// "Hello world!" 是要输出的信息RCLCPP_INFO(node->get_logger(), "Hello world!");// 空循环，保持程序运行// rclcpp::ok() 检查ROS 2系统是否正常运行// 当收到SIGINT信号（如Ctrl+C）或调用rclcpp::shutdown()时返回falsewhile (rclcpp::ok()){; // 空语句，循环体什么都不做 }// 关闭ROS 2系统// 清理资源，终止通信 rclcpp::shutdown();// 程序正常退出return 0; }
ubuntu@ubuntu-Lenovo-XiaoXin-14API-2019:~/ros2_ws_cha3$ colcon build
Starting >>> my_pkg
Finished <<< my_pkg [6.39s]
Summary: 1 package finished [6.85s]
ubuntu@ubuntu-Lenovo-XiaoXin-14API-2019:~/ros2_ws_cha3$ source install/setup.bash
ubuntu@ubuntu-Lenovo-XiaoXin-14API-2019:~/ros2_ws_cha3$ ros2 run my_pkg first_node
[INFO] [1773564269.835462423] [my_node]: Hello world!
3.1.2.2设置编译规则
修改CMakeLists.txt
cmake_minimum_required(VERSION 3.8) project(my_pkg)if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")add_compile_options(-Wall -Wextra -Wpedantic) endif()# find dependencies find_package(ament_cmake REQUIRED) # uncomment the following section in order to fill in # further dependencies manually. # find_package(<dependency> REQUIRED) find_package(rclcpp REQUIRED) add_executable(first_node src/first_node.cpp) ament_target_dependencies(first_node "rclcpp") install(TARGETSfirst_nodeDESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)find_package(ament_lint_auto REQUIRED)# the following line skips the linter which checks for copyrights# comment the line when a copyright and license is added to all source filesset(ament_cmake_copyright_FOUND TRUE)# the following line skips cpplint (only works in a git repo)# comment the line when this package is in a git repo and when# a copyright and license is added to all source filesset(ament_cmake_cpplint_FOUND TRUE)ament_lint_auto_find_test_dependencies() endif()
ament_package()
3.1.2.3 修改软件包信息
修改package.xml
<?xml version="1.0"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <package format="3"><name>my_pkg</name><version>0.0.0</version><description>TODO: Package description</description><maintainer email="ubuntu@todo.todo">ubuntu</maintainer><license>TODO: License declaration</license><buildtool_depend>ament_cmake</buildtool_depend> <depend>rclcpp</depend> <test_depend>ament_lint_auto</test_depend><test_depend>ament_lint_common</test_depend><export><build_type>ament_cmake</build_type></export> </package>
3.1.2.4 编译软件包
ubuntu@ubuntu-Lenovo-XiaoXin-14API-2019:~/ros2_ws_cha3$ colcon build
Starting >>> my_pkg
Finished <<< my_pkg [6.39s]
Summary: 1 package finished [6.85s]
3.1.3 运行节点
ubuntu@ubuntu-Lenovo-XiaoXin-14API-2019:~/ros2_ws_cha3$ source install/setup.bash
ubuntu@ubuntu-Lenovo-XiaoXin-14API-2019:~/ros2_ws_cha3$ ros2 run my_pkg first_node
[INFO] [1773564269.835462423] [my_node]: Hello world!