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launch文件的编写及ROS配置文件的详细介绍
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launch文件的编写及ROS配置文件的详细介绍 1 launch文件介绍及简单应用1.1 launch文件介绍根据ROS的架构和通信机制来看，ROS的各个功能的实现离不开节点(node)和话题(topic)、参数(parameter)、服务(service)等构成的网络拓扑(rosgraph)，其中每个j节点 都可以完成对应的功能。而一个机器人完整功能的实现，通常需要启动多个节点，如果一个节点一个节点的启动，比较麻烦。官方给出的优化策略是使用 launch 文件，可以一次性启动多个 ROS 节点。通过launch文件以及roslaunch命令可以一次性启动多个节点，并且可以设置丰富的参数。 在官方给出的例程中，发部分功能的实现都是通过launch文件来实现的，我们也应该学会这种优化策略，通过launch文件来启动自己的功能包，高效的实现各种功能。 1.2 launch文件简单应用1.对于launch文件的存放，我们可以在功能包下新建一个launch文件夹来专门存在launch文件，方便我们进行调用，下面进行实操 VSode在工作空间目录下打开，这里我们打开的是之前演示的VScode_ws工作空间，打开后在功能包下创建launch文件夹即可  launch文件夹创建2.在launch文件夹下新建一个名为test01的*.launch文件  launch文件创建3.在编写launch文件之前，我们先介绍一下launch文件的格式，launch文件本质是一个xml类型的文件，通过各种标签进行功能的实现，下面列举launch文件的基本格式及各标签的作用 launch文件的基本格式如下： launch ... nodenode标签会指定一个准备运行的ROS节点，node标签是 launch 文件中最重要的标签，因为它实现了launch文件的基本功能，即同时启动多个ROS节点。 pkg：节点所在功能包的名称package_name； type：节点类型是可执行文件(节点)的名称executable_node； name：节点运行时的名称node_name； args：传递命令行设置的参数； respawn：是否自动重启，true表示如果节点未启动或异常关闭，则自动重启；false则表示不自动重启，默认值为false； output：是否将节点信息输出到屏幕，如果不设置该属性，则节点信息会被写入到日志文件，并不会显示到屏幕上。 param在工程项目开发中，我们常常需要改变程序变量的一些参数，如果在程序中赋值，我们每次修改参数都需要重新编译程序，大大降低了开发效率，而param标签则可以实现传递参数的功能，它可以定义一个将要被设置到参数服务器的参数，它的参数值可以通过文本文件、二进制文件或命令等属性来设置。 name：参数名称param_name type：参数类型double，str，int，bool，yaml value：需要设置的参数值param_value rosparamrosparam标签可以实现节点从参数服务器上加载(load)、导出(dump)和删除(delete)YAML文件 command：功能类型(load、dump、delete) file：参数文件的路径 param：参数名称 includeinclude标签功能和编程语言中的include预处理类似，它可以导入其他launch文件到当前include标签所在的位置，实现launch文件复用。 remapremap标签可以实现节点名称的重映射，每个remap标签包含一个原始名称和一个新名称，在系统运行后原始名称会被替换为新名称。 argarg标签表示启动参数，该标签允许创建更多可重用和可配置的启动文件，其可以通过命令行、include 标签、定义在高级别的文件这 3 种方式配置值。同时注意：arg标签声明的参数不是全局的，只能在声明的单个启动文件中使用，可以当成函数的局部参数来理解。 注意：arg和param标签的区别： 函数作用arg启动时的参数，只在launch文件中有意义param运行时的参数，参数会存储在参数服务器中groupgroup标签可以实现将一组配置应用到组内的所有节点，它也具有命名空间ns特点，可以将不同的节点放入不同的 namespace。 ... ...4.下面我们通过几个简单的实例，来演示一下上述函数可以实现的功能 通过launch文件同时启动乌龟GUI节点和键盘控制节点，代码如下 launch文件编写终端下launch文件运行格式如下，第一次运行记得使用指令更新环境变量source ./devel/setup.bash roslaunch 功能包名 launch文件名字.launch本教程在VScode终端下的指令为： source ./devel/setup.bash roslaunch demo01_helloworld_vs test01.launch运行结果如下，我们可以看到，键盘可以成功控制乌龟运动。  launch文件运行注意：launch文件启动之前，无需再执行roscore指令启动rosmaster，launch文件可以自启动rosmaster 2 package.xml文件介绍及配置我们以功能包demo01_helloworld_vs下的package.xml文件为例介绍package.xml文件格式及配置 demo01_helloworld_vs 0.0.0 The demo01_helloworld_vs package xxx TODO catkin roscpp rospy std_msgs roscpp rospy std_msgs roscpp rospy std_msgs 3 CMakeLists.txt文件介绍及配置我们以功能包demo01_helloworld_vs下的CMakeLists.txt文件为例介绍CMakeLists.txt文件格式及配置 cmake_minimum_required(VERSION 3.0.2) #所需 cmake 版本 project(demo01_helloworld_vs) #功能包名称，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 ## ################################################ ## 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 ## 配置 msg 源文件 # add_message_files( # FILES # Message1.msg # Message2.msg # ) ## Generate services in the 'srv' folder ## 配置 srv 源文件 # add_service_files( # FILES # Service1.srv # Service2.srv # ) ## Generate actions in the 'action' folder ## 配置 action 源文件 # 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_helloworld_vs # 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/${PROJECT_NAME}/demo01_helloworld_vs.cpp # ) ## Add cmake target dependencies of the library ## as an example, code may need to be generated before libraries ## either from message generation or dynamic reconfigure # 添加库的 cmake 目标依赖 # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide # 声明 C++ 可执行文件 # add_executable(${PROJECT_NAME}_node src/demo01_helloworld_vs_node.cpp) add_executable(helloworld_vs_c src/helloworld_vs_c.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(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") ## Add cmake target dependencies of the executable ## same as for the library above # 添加可执行文件的 cmake 目标依赖 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(helloworld_vs_c ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Specify libraries to link a library or executable target against # 指定库、可执行文件的链接库 # target_link_libraries(${PROJECT_NAME}_node # ${catkin_LIBRARIES} # ) target_link_libraries(helloworld_vs_c ${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/my_python_script # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} # ) catkin_install_python(PROGRAMS scripts/helloworld_vs_p.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_helloworld_vs.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)launch文件的编写及ROS配置文件介绍到此就更新完毕，创作不易，希望大家多多点赞收藏，感谢大家！！！ 参考资料： http://www.autolabor.com.cn/book/ROSTutorials/ http://events.jianshu.io/p/0450e74cbe4a |
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