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ROS学习笔记四：理解ROS节点_rtt _ros_ integration 编译要几个小时

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ROS学习笔记四：理解ROS节点

2016-08-24 19:15:07 mountzf 阅读数 2614 更多

分类专栏： ROS ROS学习笔记

本文链接： https://blog.csdn.net/mountzf/article/details/52303234

ROS学习笔记四：理解ROS节点

本节主要介绍ROS图形概念，讨论ROS命令行工具roscore、rosnode和rosrun。

要求

要求已经在Linux系统中安装一个学习用的ros软件包例子：

sudo apt-get install ros-indigo-ros-tutorials
 
 
 
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ROS图形概念概述

nodes：一个节点可以通过ROS和其他节点进行通信；
messages：当订阅或者发布一个topic时使用的数据类型；
topics：节点可以发布信息到topics或者从topics那里订阅信息；
master：ROS的name service，例如让不同的节点可以找到彼此；
rosout：等价于ROS中的stdout/stderr；
roscore：master+rosout+parameter service。

节点

一个节点仅仅是ROS软件包中的一个可执行文件，ROS节点使用客户端库函数和其他节点进行通信，节点可以从topic中订阅信息，也可发送消息至topic，同时节点也可以使用或者提供服务。

客户端库函数

ROS客户端库函数允许使用不同的编程语言进行编程通信：

rospy：Python client library
roscpp：C++ client library

roscore

roscore是你在使用ROS的时候第一件应该做的事：

roscore &
 
 
 
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然后就会看到输出的如下信息：

[1] 4080
mountzf@ubuntu:~/ros_tutorial$ ... logging to /home/mountzf/.ros/log/0491d61a-69eb-11e6-93e8-000c29521e21/roslaunch-ubuntu-4080.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:32777/
ros_comm version 1.11.20


SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.20

NODES

auto-starting new master
process[master]: started with pid [4092]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to 0491d61a-69eb-11e6-93e8-000c29521e21
process[rosout-1]: started with pid [4105]
started core service [/rosout]
 
 
 
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使用rosnode

打开一个新的终端窗口，看看运行roscore之后会出现些什么。rosnode显示了现在正在运行的ROS节点的信息。其中rosnode list命令列出了正在运行的节点名称。

rosnode list
/rosout
 
 
 
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这说明现在系统中只有一个节点rosout在运行，它将一直运行并收集和记录节点的调试输出。命令rosnode info返回一个特定节点的节点信息。

rosnode info /rosout
 
 
 
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这将返回节点rosout的一些信息：

Node [/rosout]
Publications: 
 * /rosout_agg [rosgraph_msgs/Log]

Subscriptions: 
 * /rosout [unknown type]

Services: 
 * /rosout/set_logger_level
 * /rosout/get_loggers


contacting node http://ubuntu:35108/ ...
Pid: 4105
 
 
 
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使用rosrun

rosrun命令允许你直接通过软件包名称运行软件包当中的节点（不需要知道软件包的所在路径，但必须是在ROS的搜索目录范围之内）。
使用方法：

rosrun [package_name] [node_name]
 
 
 
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所以现在我们可以运行软件包turtlesim中的turtlesim_node节点：

rosrun turtlesim turtlesim_node
 
 
 
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在一个新窗口中

rosnode list
/rosout
/turtlesim
 
 
 
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ROS中很有力的一个特征是你可以在命令行中重新分配名字

rosrun turtlesim turtlesim_node __name:=my_turtlesim
rosnode list
/my_turtlesim
/rosout
 
 
 
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如上，我们的节点名称更改为了my_turtlesim，下面我们使用另一个rosnode命令行命令rosnode ping:

rosnode ping /my_turtlesim
rosnode: node is [/my_turtlesim]
pinging /my_turtlesim with a timeout of 3.0s
xmlrpc reply from http://ubuntu:33201/  time=0.409842ms
xmlrpc reply from http://ubuntu:33201/  time=1.335144ms
xmlrpc reply from http://ubuntu:33201/  time=1.242876ms
xmlrpc reply from http://ubuntu:33201/  time=1.311064ms
xmlrpc reply from http://ubuntu:33201/  time=1.254082ms
 
 
 
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总结

roscore=ros+core，master（为ROS提供名称服务）+rosout（stdout/stderr）+parameter server。所以在使用ROS的时候的第一件事就是运行roscore来启动这些服务；
rosnode=ros+node，用来获得ROS节点信息和操作节点的工具；
rosrun=ros+run，用来运行一个给定软件包中的节点。

祝枫
2016年8月24日于哈尔滨

文章最后发布于: 2016-08-24 19:15:07

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shell脚本？
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最理想的黑客技术学习技术根据地，也适用于开发人员游戏开发者，程序员，图形设计师以及网络营销人士

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linux interfaces配...
weixin_44649332：只有第一二行的内容
linux interfaces配...
weixin_44649332：大神为什么我的这个文件里什么都没有啊
定制适用于ARM平台的Ubuntu...
qq_36219010：楼主，你好。我按照你的方法移植，启动的时候内核找不到init进程是咋回事？
VIM总结之一：VIM编辑器常用命...
lostwaypupy：谢谢大神
定制适用于ARM平台的Ubuntu...
qq_42856778：请问下移植提示ttyS0 启动失败。请问下是什么原因啊

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