ROS源码分析-week8

2021SC@SDUSC

1. 本周工作目标

前面几周阅读了ros core部分的ros master和ros topic方面的源码，注重于一些核心、通用库的实现。本周开始，我们要进入另一部分的阅读，阅读导航库的源码，探究其实现。结合实际情况，本周的工作目标如下：

• 阅读ros wiki，了解导航库源码结构

• 结合文档和源码结构，搭建阅读环境

2. ros导航库结构

回到最开始的wiki（RecommendedRepositoryUsage/CommonGitHubOrganizations - ROS Wiki），阅读列表，找到了我们想要的导航部分源码：

看到是通过ros-planning这个账号进行发布的。这个账号下有很多仓库：

这一个个阅读太慢了，于是我顺手写了一个python脚本调用api，打印该用户所有的仓库：

import requests
import json
​
resp = requests.get('https://api.github.com/users/ros-planning/repos?page=1&per_page=100')
resp_dict = json.loads(resp.text)
​
print(f'{"repo_name" :<30}html_url')
for repo in resp_dict:
    print(f'{repo["name"] :<30}{repo["html_url"]}')

输出如下：

3d_navigation                 https://github.com/ros-planning/3d_navigation
geometric_shapes              https://github.com/ros-planning/geometric_shapes
industrial_moveit             https://github.com/ros-planning/industrial_moveit
map_manager_app               https://github.com/ros-planning/map_manager_app
map_store                     https://github.com/ros-planning/map_store
moveit                        https://github.com/ros-planning/moveit
moveit.ros.org                https://github.com/ros-planning/moveit.ros.org
moveit2                       https://github.com/ros-planning/moveit2
moveit2_tutorials             https://github.com/ros-planning/moveit2_tutorials
moveit_advanced               https://github.com/ros-planning/moveit_advanced
moveit_calibration            https://github.com/ros-planning/moveit_calibration
moveit_ci                     https://github.com/ros-planning/moveit_ci
moveit_commander              https://github.com/ros-planning/moveit_commander
moveit_core                   https://github.com/ros-planning/moveit_core
moveit_docs                   https://github.com/ros-planning/moveit_docs
moveit_example_apps           https://github.com/ros-planning/moveit_example_apps
moveit_experimental           https://github.com/ros-planning/moveit_experimental
moveit_grasps                 https://github.com/ros-planning/moveit_grasps
moveit_ikfast                 https://github.com/ros-planning/moveit_ikfast
moveit_kinematics_tests       https://github.com/ros-planning/moveit_kinematics_tests
moveit_metapackages           https://github.com/ros-planning/moveit_metapackages
moveit_msgs                   https://github.com/ros-planning/moveit_msgs
moveit_planners               https://github.com/ros-planning/moveit_planners
moveit_plugins                https://github.com/ros-planning/moveit_plugins
moveit_pr2                    https://github.com/ros-planning/moveit_pr2
moveit_resources              https://github.com/ros-planning/moveit_resources
moveit_robots                 https://github.com/ros-planning/moveit_robots
moveit_ros                    https://github.com/ros-planning/moveit_ros
moveit_setup_assistant        https://github.com/ros-planning/moveit_setup_assistant
moveit_task_constructor       https://github.com/ros-planning/moveit_task_constructor
moveit_tutorials              https://github.com/ros-planning/moveit_tutorials
moveit_visual_tools           https://github.com/ros-planning/moveit_visual_tools
navigation                    https://github.com/ros-planning/navigation
navigation.ros.org            https://github.com/ros-planning/navigation.ros.org
navigation2                   https://github.com/ros-planning/navigation2
navigation2_dynamic           https://github.com/ros-planning/navigation2_dynamic
navigation2_tutorials         https://github.com/ros-planning/navigation2_tutorials
navigation_experimental       https://github.com/ros-planning/navigation_experimental
navigation_msgs               https://github.com/ros-planning/navigation_msgs
navigation_tutorials          https://github.com/ros-planning/navigation_tutorials
panda_moveit_config           https://github.com/ros-planning/panda_moveit_config
random_numbers                https://github.com/ros-planning/random_numbers
robot_pose_ekf                https://github.com/ros-planning/robot_pose_ekf
shape_tools                   https://github.com/ros-planning/shape_tools
srdfdom                       https://github.com/ros-planning/srdfdom
warehouse_ros                 https://github.com/ros-planning/warehouse_ros
warehouse_ros_mongo           https://github.com/ros-planning/warehouse_ros_mongo
warehouse_ros_sqlite          https://github.com/ros-planning/warehouse_ros_sqlite

其实还是很多，但是我们大致可以看出来moveit、navigation有很多子仓库，应该是比较核心而复杂的组件。

单纯看代码不能了解很多，我们要结合代码的wiki一起阅读：

 可以看到这里有一个类似目录一样的区域。通过上方的链接点入move_base的介绍，可以看见整个导航的包的框架图：

这张图生动形象地概括了整个导航功能包的框架。至于详细的内容就不清楚了。

3. 搭建阅读环境

本部分代码过于复杂，应该是比较难用“vscode”进行调试了，我决定只使用vscode当做代码阅读器，然后使用ros本来的调试套件（如rostopic、rqt等）进行调试。

4. 总结

这就是本周的工作内容。新的部分比原有的部分更难，需要接下来的日子继续努力阅读。