ros2-功能包

python

ros2 pkg create --build-type ament_python --license Apache-2.0 demo_python_pkg

创建功能包命令，
–build-type 类型 python
–license 证书
demo_python_pkg 创建的功能包名

船舰完成后，

cd demo_python_pkg/demo_python_pkg
touch python_node.py

python_node.py

import rclpy
from rclpy.node import Node

def main():
    rclpy.init() # 初始化
    node = Node("python_node")
    node.get_logger().info('你好 python 节点')
    rclpy.spin(node=node)
    rclpy.shutdown()

修改package.xml文件，增加依赖项，即增加<depend>rclpy</depend>

package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>demo_python_pkg</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="yfzx@todo.todo">yfzx</maintainer>
  <license>Apache-2.0</license>

  <depend>rclpy</depend>
  <test_depend>ament_copyright</test_depend>
  <test_depend>ament_flake8</test_depend>
  <test_depend>ament_pep257</test_depend>
  <test_depend>python3-pytest</test_depend>

  <export>
    <build_type>ament_python</build_type>
  </export>
</package>

修改setup.py，修改console_scripts值

from setuptools import setup

package_name = 'demo_python_pkg'

setup(
    name=package_name,
    version='0.0.0',
    packages=[package_name],
    data_files=[
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
    ],
    install_requires=['setuptools'],
    zip_safe=True,
    maintainer='yfzx',
    maintainer_email='yfzx@todo.todo',
    description='TODO: Package description',
    license='Apache-2.0',
    tests_require=['pytest'],
    entry_points={
        'console_scripts': [
            'python_node = demo_python_pkg.python_node:main'
        ],
    },
)

运行：

cd rosfish/chapt2
colcon build
. install/setup.bash
ros2 run demo_python_pkg python_node

cpp

ros2 pkg create --build-type ament_cmake --license Apache-2.0 demo_cpp_pkg

cd demo_cpp_pkg/src
touch cpp_node.cpp

cpp_node.cpp

#include "iostream"
#include "rclcpp/rclcpp.hpp"


int main(int argc, char** argv){

    std::cout<<"参数数量：\t"<<argc<<"\n";
    std::cout<<"程序名字：\t"<<argv[0]<<"\n";

    rclcpp::init(argc, argv);
    auto node = std::make_shared<rclcpp::Node>("cpp_node"); // 使用make_shared创建智能指针
    RCLCPP_INFO(node->get_logger(), "你好 cpp节点");
    rclcpp::spin(node);
    rclcpp::shutdown();


    
    return 0;
}

修改 cmakelists文件，增加

find_package(rclcpp REQUIRED) # 直接查找到对应的头文件和库文件, REQUIRED 表示这个库为必须
add_executable(cpp_node src/cpp_node.cpp)
# target_include_directories(cpp_node PUBLIC ${rclcpp_INCLUDE_DIRS}) # 头文件包含
# target_link_libraries(cpp_node ${rclcpp_LIBRARIES}) # 库文件链接
ament_target_dependencies(cpp_node rclcpp) # 替代上面两行include和link

install(TARGETS cpp_node DESTINATION lib/${PROJECT_NAME}) # 用于复制文件到install

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(demo_cpp_pkg)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

find_package(rclcpp REQUIRED) # 直接查找到对应的头文件和库文件, REQUIRED 表示这个库为必须
add_executable(cpp_node src/cpp_node.cpp)
# target_include_directories(cpp_node PUBLIC ${rclcpp_INCLUDE_DIRS}) # 头文件包含
# target_link_libraries(cpp_node ${rclcpp_LIBRARIES}) # 库文件链接
ament_target_dependencies(cpp_node rclcpp)

install(TARGETS cpp_node DESTINATION lib/${PROJECT_NAME}) # 用于复制文件到install

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

package.xml, 增加<depend>rclcpp</depend>
package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>demo_cpp_pkg</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="yfzx@todo.todo">yfzx</maintainer>
  <license>Apache-2.0</license>

  <depend>rclcpp</depend>
  <buildtool_depend>ament_cmake</buildtool_depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

cd CHAPT2
colcon build
. install/setup.bash
ros2 run demo_cpp_pkg cpp_node