PIBOT移植ROS2记录(1)

作者: PIBOT导航机器人 | 来源:发表于2022-05-04 22:12 被阅读0次

    pibot_bringup提供了ROS1的交互的node以及相关工具,我们通过移植pibot_bringupROS2,学习相关的ROS2开发

    1. 环境搭建

    前文RO2的安装与简单测试跑了一个简单的demo,具体环境搭建不再赘述

    2. 创建包

    我们创建ROS2的包

    mkdir -p ~/ros2_ws/src
    ros2 pkg create --build-type ament_cmake pibot_bringup --dependencies rclcpp
    
    • ros2 pkg create
      这里创建一个包,命令对应ROS1中的catkin_create_pkg pibot_bringup std_msgs rospy roscpp

    3. 编译包

    按照cpp_pubsub sample,在CMakeLists.txt添加执行文件, 即添加一个executable和其依赖

    diff --git a/pibot_bringup/CMakeLists.txt b/pibot_bringup/CMakeLists.txt
    index b561fa6..c1a7568 100644
    --- a/pibot_bringup/CMakeLists.txt
    +++ b/pibot_bringup/CMakeLists.txt
    @@ -9,6 +9,16 @@ endif()
     find_package(ament_cmake REQUIRED)
     find_package(rclcpp REQUIRED)
     
    +add_executable(pibot_driver src/main.cpp
    +                      )
    +
    +ament_target_dependencies(pibot_driver 
    +                      rclcpp)
    +
    +install(TARGETS
    +  pibot_driver
    +  DESTINATION lib/${PROJECT_NAME})
    +
     if(BUILD_TESTING)
       find_package(ament_lint_auto REQUIRED)
       # the following line skips the linter which checks for copyrights
    

    添加main.cpp,简单写个main函数

    #include "rclcpp/rclcpp.hpp"
    
    int main(int argc, char* argv[]) {
      rclcpp::init(argc, argv);
    
      rclcpp::shutdown();
    
      return 0;
    }
    

    添加完成使用下面命令编译即可

    cd ~/ros2_ws
    colcon build --symlink-install
    

    输出success

    ➜  ros2_ws colcon build --symlink-install              
    Starting >>> pibot_bringup
    ...
    Finished <<< pibot_bringup [9.56s]                     
    
    Summary: 1 package finished [9.91s]
    

    4. colcon build参数说明

    ➜  ros2_ws git:(master) colcon build --help
    usage: colcon build [-h] [--build-base BUILD_BASE] [--install-base INSTALL_BASE] [--merge-install]
                        [--symlink-install] [--test-result-base TEST_RESULT_BASE] [--continue-on-error]
                        [--executor {parallel,sequential}] [--parallel-workers NUMBER]
                        [--event-handlers [name1+ [name2- ...]]] [--ignore-user-meta]
                        [--metas [PATH [PATH ...]]] [--base-paths [PATH [PATH ...]]]
                        [--packages-ignore [PKG_NAME [PKG_NAME ...]]]
                        [--packages-ignore-regex [PATTERN [PATTERN ...]]] [--paths [PATH [PATH ...]]]
    
    Event handler arguments:
      --event-handlers [name1+ [name2- ...]]
                            Enable (+) or disable (-) event handlers (default: compile_commands+ console_cohesion-
                            console_direct- console_package_list- console_start_end+ console_stderr+
                            desktop_notification+ event_log+ log+ log_command+ status+ store_result+ summary+
                            terminal_title+)
      ...
    
    • --symlink-install
      install使用符号链接而不是复制文件,如
    ➜  ros2_ws ls -al install/pibot_bringup/lib/pibot_bringup/pibot_driver 
    lrwxrwxrwx 1 david david 52 5月   3 21:16 install/pibot_bringup/lib/pibot_bringup/pibot_driver -> /home/pibot/ros2_ws/build/pibot_bringup/pibot_driver
    

    可以看到install中生成的是一个软连接执行build中的对应文件

    • --packages-select
      只编译指定包,如
      colcon build --packages-select pibot_bringup

    • --packages-ignore
      忽略指定包

    • --event-handlers
      添加编译时的事件处理
      colcon --log-base /dev/null build --symlink-install --event-handlers console_direct+ log-

    直接在终端输出编译日志,可以看到 需要打开某项功能只需要后面添加+,删除则添加-
    默认选项如下
    (default: compile_commands+ console_cohesion- console_direct- console_package_list- console_start_end+ console_stderr+ desktop_notification+ event_log+ log+ log_command+ status+ store_result+ summary+ terminal_title+)

    我们可以把喜欢的配置设置为alias写入到~/.bashrc中,如

    alias pbmake="colcon --log-base /dev/null build --symlink-install --event-handlers console_direct+ log-"
    

    这样编译就可以直接使用pbmake编译了

    本文代码https://gitee.com/pibot/pibot_bringup/tree/70573f847e238957630352d5baa3444cd8539395

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