首先新建工作空间文件夹drone_ws,在工作空间中创建文件夹src,返回工作空间文件夹,编译工作空间
cd ~/drone_ws
catkin_make
在src文件夹中创建程序包
catkin_create_pkg my_pkg std_msgs rospy roscpp
在程序包中建立msg和srv文件夹,在msg文件夹中建立msg1.msg文件(空的即可,本例中不需要message类型),在srv文件夹中建立文件:srv1.srv 并输入以下代码:
float64 powerConsumption
---
float64 etaD
在程序包中的include/my_pkg文件夹中创建头文件 controller.h
#ifndef CONTROLLER_H
#define CONTROLLER_H
#include"std_msgs/Float64.h"
class Controller{
public:
double f;
double eta_d = 5;
double kp = 3;
double p = 0; //power consumption
Controller(){};
void CalF(double &eta);
void ChangeEtaD(double &etad);
void CalP();
void ResetPowerConsumption();
};
#endif
controller_node.h
#ifndef CONTROLLERNO_NODE_H
#define CONTROLLER_NODE_H
#include"controller.h"
#include"ros/ros.h"
#include"my_pkg/srv1.h"
#include<cstdlib>
#include<sstream>
#include<iostream>
class ControllerNode{
public:
ros::NodeHandle n_;
ros::Publisher pub_;
ros::Subscriber sub_;
ros::Publisher pub_2;
ros::Subscriber sub_2;
ros::ServiceClient client_;
my_pkg::srv1 srv1;
Controller *controller_;
int count = 0;
ControllerNode(Controller *controller){
controller_ = controller;
sub_ = n_.subscribe("vessel_position", 1, &ControllerNode::callback, this);
pub_ = n_.advertise<std_msgs::Float64>("control_force", 1);
client_ = n_.serviceClient<my_pkg::srv1>("call_for_etaD");
}
void PublishControlForce();
void callback(const std_msgs::Float64::ConstPtr& msg){
count += 1;
double eta = msg->data;
controller_->CalF(eta);
controller_->CalP();
std_msgs::Float64 output;
output.data = controller_->f;
pub_.publish(output);
std::cout << "step:" << count << ";" << "eta_d:" << controller_->eta_d << ";" << "force:" << output.data << std::endl;
if(count > 50){
srv1.request.powerConsumption = controller_->p;
client_.call(srv1);
std::cout<< "call service!" << std::endl;
controller_->eta_d = srv1.response.etaD;
controller_->ResetPowerConsumption();
count = 0;
}
}
};
#endif
vessel.h
#ifndef VESSEL_H
#define VESSEL_H
#include"std_msgs/Float64.h"
class Vessel{
public:
double m;
double eta;
Vessel(double m_, double eta_){
m = m_;
eta = eta_;
}
void Motion(double &f);
};
#endif
vessel_node.h
#ifndef VESSEL_NODE_H
#define VESSEL_NODE_H
#include"vessel.h"
#include"ros/ros.h"
#include<sstream>
#include<iostream>
class VesselNode{
public:
ros::NodeHandle n_;
ros::Publisher pub_;
ros::Subscriber sub_;
Vessel *vessel_;
VesselNode(Vessel *vessel){
vessel_ = vessel;
sub_ = n_.subscribe("control_force", 1, &VesselNode::callback, this);
pub_ = n_.advertise<std_msgs::Float64>("vessel_position", 1);
}
void PublishPosition();
void callback(const std_msgs::Float64::ConstPtr& msg){
double f = msg->data;
vessel_->Motion(f);
std_msgs::Float64 output;
output.data = vessel_->eta;
pub_.publish(output);
std::cout << output.data << std::endl;
}
};
#endif
在程序包的src文件夹中创建以下cpp文件和py文件,controller.cpp
#include"my_pkg/controller.h"
void Controller::CalF(double &eta){
this->f = kp * (eta_d - eta);
}
void Controller::ChangeEtaD(double &etad){
this->eta_d = etad;
}
void Controller::CalP(){
this->p = f * f;
}
void Controller::ResetPowerConsumption(){
this->p = 0;
}
controller_node.cpp
#include"my_pkg/controller_node.h"
void ControllerNode::PublishControlForce(){
std_msgs::Float64 output;
output.data = controller_->f;
pub_.publish(output);
std::cout << output.data << std::endl;
}
controller_interface.cpp
#include"my_pkg/controller_node.h"
#include"ros/ros.h"
int main(int argc, char **argv){
ros::init(argc, argv, "controller_interface");
Controller pidController;
ControllerNode node_controller(&pidController);
ros::spin();
return 0;
}
vessel.cpp
#include"my_pkg/vessel.h"
void Vessel::Motion(double &f){
this->eta = eta + f / m;
}
vessel_node.cpp
#include"my_pkg/vessel_node.h"
void VesselNode::PublishPosition(){
std_msgs::Float64 output;
output.data = vessel_->eta;
pub_.publish(output);
std::cout << output.data << std::endl;
}
vessel_interface.cpp
#include"my_pkg/vessel_node.h"
int main(int argc, char** argv){
ros::init(argc, argv, "vessel_interface");
Vessel v1(10, 0);
VesselNode node_vessel(&v1);
ros::Rate loop_rate(10);
while(ros::ok()){
node_vessel.PublishPosition();
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
brain.py
#!/usr/bin/env python
NAME = 'call_for_etaD'
import rospy
from std_msgs.msg import Float64
from my_pkg.srv import *
import random
def ChangeEtaD(req):
reward = req.powerConsumption
etaD = random.randint(1,10)
print("send new etaD")
return etaD
def rossrv_creat():
rospy.init_node(NAME , anonymous=True)
s = rospy.Service('call_for_etaD', srv1, ChangeEtaD)
print("server is waiting!")
rospy.spin()
if __name__ == '__main__':
print('Brain is waiting')
rossrv_creat()
之后,将程序包中的CMakeList.txt文件与pacakge.xml文件改成如下内容:
cmake_minimum_required(VERSION 2.8.3)
project(my_pkg)
## 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
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
## System dependencies are found with CMake's conventions
# 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
# 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 run_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 run_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
add_message_files(
FILES
msg1.msg
# Message2.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
srv1.srv
# Service2.srv
)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_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 ##
###################################
## 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
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES my_pkg
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
include_directories(
include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# include/my_pkg/controller.h
# include/my_pkg/controller_node.h
# include/my_pkg/vessel.h
# include/my_pkg/vessel_node.h
add_library(simulation
include/my_pkg/controller.h
include/my_pkg/controller_node.h
include/my_pkg/vessel.h
include/my_pkg/vessel_node.h
src/controller.cpp
src/controller_node.cpp
src/vessel.cpp
src/vessel_node.cpp
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(controller_interface src/controller_interface.cpp)
add_executable(vessel_interface src/vessel_interface.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(controller_interface my_pkg_generate_messages_cpp)
add_dependencies(vessel_interface my_pkg_generate_messages_cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(controller_interface simulation ${catkin_LIBRARIES})
target_link_libraries(vessel_interface simulation ${catkin_LIBRARIES})
#############
## Install ##
#############
# 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
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${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_my_pkg.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)
<?xml version="1.0"?>
<package format="2">
<name>my_pkg</name>
<version>0.0.0</version>
<description>The my_pkg package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="ivan@todo.todo">ivan</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/my_pkg</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>message_generation</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_generation</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
返回工作空间编译即可。
本例所实现的功能是一个极简化版vessel一维运动控制,brain.py文件类似指挥官,为控制器controller.h类提供运动的目标点,控制器计算出运动到该目标点所需的控制力,vessel.h类在控制器的作用下移动,移动过程中将自己的位置不断反馈给控制器,使控制器调整控制力,控制器与vessel之间为topic通信。当vessel运动一段时间后,控制器通过ROS的service通信方式,向brain.py发送信息,brain.py作为服务器为控制器客户端发送新的目标点。