ROS基础学习笔记

本文参考赵虚左的视频和笔记而成，原文链接：Introduction · Autolabor-ROS机器人入门课程《ROS理论与实践》零基础教程

ROS概述

ROS文件系统

ROS文件系统级指的是在硬盘上ROS源代码的组织形式，其结构大致可以如下图所示：

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
Copy

ROS 文件系统中部分目录和文件前面编程中已经有所涉及，比如功能包的创建、src目录下cpp文件的编写、scripts目录下python文件的编写、launch目录下launch文件的编写，并且也配置了 package.xml 与 CMakeLists.txt 文件。其他目录下的内容后面教程将会再行介绍，当前我们主要介绍: package.xml 与 CMakeLists.txt 这两个配置文件。

1.package.xml

该文件定义有关软件包的属性，例如软件包名称，版本号，作者，维护者以及对其他catkin软件包的依赖性。请注意，该概念类似于旧版 rosbuild 构建系统中使用的manifest.xml文件。

<?xml version="1.0"?>
<!-- 格式: 以前是 1，推荐使用格式 2 -->
<package format="2">
  <!-- 包名 -->
  <name>demo01_hello_vscode</name>
  <!-- 版本 -->
  <version>0.0.0</version>
  <!-- 描述信息 -->
  <description>The demo01_hello_vscode package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <!-- 维护人员 -->
  <maintainer email="xuzuo@todo.todo">xuzuo</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <!-- 许可证信息，ROS核心组件默认 BSD -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/demo01_hello_vscode</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <!-- 依赖的构建工具，这是必须的 -->
  <buildtool_depend>catkin</buildtool_depend>

  <!-- 指定构建此软件包所需的软件包 -->
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>

  <!-- 指定根据这个包构建库所需要的包 -->
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>

  <!-- 运行该程序包中的代码所需的程序包 -->  
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>
Copy

2.CMakelists.txt

文件CMakeLists.txt是CMake构建系统的输入，用于构建软件包。任何兼容CMake的软件包都包含一个或多个CMakeLists.txt文件，这些文件描述了如何构建代码以及将代码安装到何处。

cmake_minimum_required(VERSION 3.0.2) #所需 cmake 版本
project(demo01_hello_vscode) #包名称，会被 ${PROJECT_NAME} 的方式调用

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
#设置构建所需要的软件包
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
)

## System dependencies are found with CMake's conventions
#默认添加系统依赖
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# 启动 python 模块支持
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
## 声明 ROS 消息、服务、动作... ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# 生成消息、服务时的依赖包
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
## 声明 ROS 动态参数配置 ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
## catkin 特定配置##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
# 运行时依赖
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES demo01_hello_vscode
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# 添加头文件路径，当前程序包的头文件路径位于其他文件路径之前
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# 声明 C++ 库
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/demo01_hello_vscode.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# 添加库的 cmake 目标依赖
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# 声明 C++ 可执行文件
add_executable(Hello_VSCode src/Hello_VSCode.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
#重命名c++可执行文件
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
#添加可执行文件的 cmake 目标依赖
add_dependencies(Hello_VSCode ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
#指定库、可执行文件的链接库
target_link_libraries(Hello_VSCode
  ${catkin_LIBRARIES}
)

#############
## Install ##
## 安装 ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
#设置用于安装的可执行脚本
catkin_install_python(PROGRAMS
  scripts/Hi.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_demo01_hello_vscode.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

ROS相关命令

文件操作，无外乎就是增删改查与执行等操作，接下来，我们就从这五个维度，来介绍ROS文件系统的一些常用命令。

1.增

catkin_create_pkg 自定义包名 依赖包 === 创建新的ROS功能包

sudo apt install xxx === 安装 ROS功能包

2.删

sudo apt purge xxx ==== 删除某个功能包

3.查

rospack list === 列出所有功能包

rospack find 包名 === 查找某个功能包是否存在，如果存在返回安装路径

roscd 包名 === 进入某个功能包

rosls 包名 === 列出某个包下的文件

apt search xxx === 搜索某个功能包

4.改

rosed 包名 文件名 === 修改功能包文件

需要安装 vim

**比如:**rosed turtlesim Color.msg

5.执行

5.1roscore

roscore === 是 ROS 的系统先决条件节点和程序的集合， 必须运行 roscore 才能使 ROS 节点进行通信。

roscore 将启动:

• ros master
• ros 参数服务器
• rosout 日志节点

用法:

roscore
Copy

或(指定端口号)

roscore -p xxxx
Copy

5.2rosrun

rosrun 包名 可执行文件名 === 运行指定的ROS节点

比如:rosrun turtlesim turtlesim_node

5.3roslaunch

roslaunch 包名 launch文件名 === 执行某个包下的 launch 文件

ROS计算图

# 指令
rosrun rqt_graph rqt_graph

ROS安装

参照赵虚左老师教程

开发环境搭建

Donate