https://github.com/lflxp/ros2study
https://github.com/lflxp/ros2study
Last synced: 3 months ago
JSON representation
- Host: GitHub
- URL: https://github.com/lflxp/ros2study
- Owner: lflxp
- Created: 2022-11-15T09:32:38.000Z (over 3 years ago)
- Default Branch: master
- Last Pushed: 2022-11-24T06:38:02.000Z (over 3 years ago)
- Last Synced: 2025-01-20T10:48:27.302Z (over 1 year ago)
- Language: Python
- Size: 20.5 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# hello world
```
ros2 run demo_nodes_py listener
ros2 run demo_nodes_cpp talker
```
## docker环境一键测试
> docker run --rm -it osrf/ros:foxy-desktop
# py
操作命令
```
> mkdir -p town_ws/src && cd town_ws/src
> ros2 pkg create village_li --build-type ament_python --dependencies rclpy
> colcon build
> ros2 pkg list|grep village_li
> colcon build --packages-select village_li
> source install/setup.zsh
> ros2 run village_li li6
> ros2 topic list
> ros2 topic info /sexy_girl_money
> ros2 topic pub /sexy_girl_money std_msgs/msg/UInt32 "{data: 20}" -1
> ros2 interface show std_msgs/msg/UInt32
> ros2 interface proto std_msgs/msg/UInt32
> ros2 interface package sensor_msgs
> ros2 interface list
```
# TODO
- https://www.bilibili.com/video/BV1gr4y1Q7j5?p=38&vd_source=d66d1a0aa1f1aea6a6386637292e894f
# cpp wanger扮演订阅渠道/sex_girl topic 然后通过发布渠道/sexy_girl_money进行付钱
操作命令
```
> ros2 pkg create village_wanger --build-type ament_cmake --dependencies rclcpp
# 自定义消息
> ros2 pkg create village_interfaces --build-type ament_cmake
> colcon build --packages-select village_interfaces
> ros2 interface package village_interfaces
> ros2 interface show village_interfaces/msg/Novel
> ros2 interface proto village_interfaces/msg/Novel
```
# service
```
ros2 run examples_rclpy_minimal_service service
ros2 service list
ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 5,b: 3}"
rqt
# 查看服务接口类型
ros2 service type /add_two_ints
ros2 interface show example_interfaces/srv/AddTwoInts
ros2 interface proto example_interfaces/srv/AddTwoInts
# 查看使用某一接口的服务
ros2 service find example_interfaces/srv/AddTwoInts
ros2 interface show village_interfaces/srv/BorrowMoney
ros2 interface show village_interfaces/srv/SellNovel
ros2 interface package village_interfaces
https://www.bilibili.com/video/BV1gr4y1Q7j5/?p=46&spm_id_from=pageDriver&vd_source=d66d1a0aa1f1aea6a6386637292e894f
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run village_li li7
ros2 service list -t
ros2 run village_li li6
ros2 service call /borrow_money village_interfaces/srv/BorrowMoney "{name: 'fishros', money: 5}"
rqt
```
# c++ service client
```
ros2 pkg create village_zhang --build-type ament_cmake --dependencies rclcpp
colcon build
ros2 run village_zhang zhang3_node
ros2 run village_wanger wang2
ros2 run village_li li6
```
# param 参数
> https://www.bilibili.com/video/BV1gr4y1Q7j5?p=60&spm_id_from=pageDriver&vd_source=d66d1a0aa1f1aea6a6386637292e894f
```
ros2 param list
ros2 param list /li6
ros2 param get /li6 writer_timer_period
ros2 param set /li6 writer_timer_period 1
ros2 topic hz /sexy_girl
colcon build --packages-select village_wanger
rqt
ros2 param get /wang2 novel_price
ros2 param get /wang2 novel_price 1
```
# Action
一个Action=三个服务+两个话题
三个服务：
* 目标传递服务
* 结果传递服务
* 取消执行服务
二个话题：
* 反馈话题（服务发布、客户端订阅）
* 状态话题（服务端发布，客户端订阅）
```
ros2 action list
ros2 action list -t
ros2 interface show turtlesim/action/RotateAbsolute
ros2 action info /turtle1/rotate_absolute
ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 0}"
ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 10}" --feedback # 实时反馈
```
# launch
```
colcon build --packages-select village_li
source install/setup.zsh
ros2 launch village_li village.launch.py
colcon build --packages-select village_wanger
ros2 param list
```
# 时光记录仪之rosbag2
```
ros2 bag record -a
ros2 bag record /sexy_girl
ros2 bag -o data.db /sexy_girl
ros2 bag info rosbag2_2022_11_19-20_16_33_0.db3
ros2 bag play rosbag2_2022_11_19-20_16_33_0.db3
ros2 bag play rosbag2_2022_11_19-20_16_33_0.db3 -r 5 # 5倍速播放
ros2 bag play rosbag2_2022_11_19-20_16_33_0.db3 -l # 循环播放
ros2 bag play rosbag2_2022_11_19-20_16_33_0.db3 --topics /sexy_girl # 播放单个话题
ros2 topic echo /sexy_girl
```