ROS入門記錄 3

int64 a

int64 b
int64 c

int64 a

int64 b
---int64 sum

$ roscd beginner_tutorials

$ mkdir msg
$ echo "int64 num" > msg/num.msg

# 也能在num.msg中新增別的：

string first_name
string last_name
uint8 age
uint32 score

#在package.xml中新增依賴項

message_generation
message_runtime
#在cmakelists.txt中修改
find_package(catkin required components
roscpp
rospy
std_msgs
message_generation
)catkin_package(
...catkin_depends message_runtime ...
...)
add_message_files(
files
num.msg
)generate_messages(
dependencies
std_msgs
)

$ rosmsg show num

or$ rosmsg show beginner_tutorials/num
int64 num

$ roscd beginner_tutorials

$ mkdir srv  # 建立srv資料夾

#  roscp [package_name] [file_to_copy_path] [copy_path]  # 從別的package拷貝service過來

$ roscp rospy_tutorials addtwoints.srv srv/addtwoints.srv

message_generationbuild_depend>

message_runtimerun_depend>

add_service_files

(  files
addtwoints.srv
)

$ rossrv show addtwoints

or$ rossrv show beginner_tutorials/addtwoints
int64 a
int64 b
---int64 sum

$ roscd beginner_tutorials

$ cd ../..
$ catkin_make install
$ cd -

$ roscd beginner_tutorials

$ mkdir scripts
$ cd scripts
$ wget 
/ros_tutorials/kinetic-devel/rospy_tutorials/001_talker_listener/talker.py
$ chmod +x talker.py

# talker.py

import rospy
from std_msgs.msg import string
deftalker
():    pub = rospy.publisher('chatter', string, queue_size=10)
rospy.init_node('talker', anonymous=true)
rate = rospy.rate(10) # 10hz
while
not rospy.is_shutdown():
hello_str = "hello world %s" % rospy.get_time()
rospy.loginfo(hello_str)
pub.publish(hello_str)
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.rosinterruptexception:
pass

還需要創造乙個接收的node：

$ roscd beginner_tutorials/scripts/

$ wget 
/ros_tutorials/kinetic-devel/rospy_tutorials/001_talker_listener/listener.py
$ chmod +x listener.py

# listener.py

import rospy
from std_msgs.msg import string
defcallback
(data):
rospy.loginfo(rospy.get_caller_id() + 'i heard %s', data.data)
deflistener
():# in ros, nodes are uniquely named. if two nodes with the same
# name are launched, the previous one is kicked off. the
# anonymous=true flag means that rospy will choose a unique
# name for our 'listener' node so that multiple listeners can
# run simultaneously.
rospy.init_node('listener', anonymous=true)
rospy.subscriber('chatter', string, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == '__main__':
listener()

$ cd ~/catkin_ws

$ catkin_make

$ 準備工作

$ cd ~/catkin_ws
$ source devel/setup.bash  # 環境變數
$ roscore                  # 開啟master，如果之前已經有，會報error

$ 啟動talker

$ rosrun beginner_tutorials talker    #如果是c++
$ rosrun beginner_tutorials talker.py #如果是python

$ 在另乙個terminal啟動listener

$ rosrun beginner_tutorials listener    #如果是c++
$ rosrun beginner_tutorials listener.py #如果是python

# talker

[info]
[walltime: 1492089752.305381]
hello
world 1492089752.31

# listener

[info] [walltime: 1492089752.306185] /listener_26673_1492089744027i heard hello world 1492089752.31

ROS入門3 建立ROS程式包

乙個catkin程式包必須要符合一下要求 程式包必須包含乙個catkin版本的cmakelists.txt檔案,而catkin metapackages中必須包含一對cmakelist.txt檔案的引用.每個目錄下只能存在乙個程式包 用catkin create pkg命令建立乙個catkin工作空...

Python入門記錄3

python 模組 python 檔案，包含 python 物件定義和 python 語句 import 關鍵字引入模組 當前搜尋路徑 shell 變數pythonpath 預設路徑 fromtimeimporttimezone 只引入模組中的乙個屬性或方法 fromtimeimport 引入全部模...

ROS學習（一） ROS入門

注 主要是古月部落格學習過程中的記錄，其專欄為 ros robot operating system 是用於機械人的一種次級作業系統，可以提供硬體抽象描述 底層驅動程式管理 共用功能執行 程式間的訊息傳遞 程式發行包管理等功能。ros的設計目標是在機械人研發中提高 復用率，是一種分布式處理框架，可執...