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ROS專業課程, Reference, Useful ROS Tool, Topic (Publisher / Subscriber),…

- - - - ros2 run turtlesim turtlesim_node
        
        ros2 run turtlesim turtle_teleop_key
    - - rosrun rospy_tutorials listener
        ros1
        
        ros2 run demo_nodes_py talker
        ros2
        
        ros2 run ros1_bridge dynamic_bridge
        ros2
- - - - • Master controls communication
        
        Communication
        
        XML/RPC (URI, HTTP) & TCPROS/UDPROS
        
        Master is necessary for node communication.
        
        One node can have several topic/service at the same time.
        
        Procedure Diagram
        
        2 more items...
        
        Procedure Diagram (cont.)
        
        1 more item...
- - - - 視窗3
        rosrun roscpp_tutorial listener
- - - - ls
        確認記錄檔名
        
        rosbag info 2021-08-04-17-19-04.bag
        列出紀錄
        
        rosbag play 2021-08-04-17-19-04.bag
        重放資料
- - - - 視窗3
        rosrun roscpp_tutorial listener
        
        視窗4
        rqt
        
        rqt_graph
- - - - Example Talker and Listener
        
        roscore
        
        Master
        
        rosrun roscpp_tutorials talker
        
        rosrun roscpp_tutorials listener
        
        useful ROS commands
        
        rosnode list
        
        2 more items...
        
        roscore
        //ros1啟動master
        
        1 more item...
- - - - Request & Response Communication
        請求和響應溝通
        
        Service is suitable while response is
        necessary.
        service合適的響應是
        必要的。
        
        We need to define the data type of request and response.
        我們需要定義請求和響應的數据類型。
        
        The definition filename ends with .srv
        定義文件名以.srv結束
        
        一來一回(送指令回覆狀態)
        
        service-Example
        
        1 more item...
- - - - 文件名以.action結束
        Client端 Server端
        很多個Topic組成
        
        Action
        Goal
        Cancel
        Status
        Feedback
        Result
        
        目標
        能否取消等
        
        Goal
        
        Result
        
        float32 mean
        float32 std_dev
        
        Feedback
        
        3 more items...
        
        bool success
        
        int32 samples
        
        navigation_msgs/Path path
        
        Averaqing.action
        
        FollowPath.action
- - - - rosparam list
        檢視是否設定成功
        rosparam get /adlink_var
        直接回應值10
        rosparam dump
        列出詳細內容
        實際使用會以程式來跑，CLI只方便除錯用
- - - - ROS Solves These !
        
        “The primary goal of ROS is to support code reuse
        in robotics research and development.”
        
        Open source (BSD / Apache)
        Meta-operating system
        (O.S. service & high-level
        functionalities)
        Created by Willow Garage
        Maintained by Open Robotics
        
        • Plotting
        
        • Graph visualization
        
        • Diagnostics
        
        • Simulation/visualization
- - - - Cyclone DDS, ROS bridge ...
        
        sudo apt install ros-foxy-rmw-cyclonedds-cpp
        Sudo apt install ros-foxy-ros1-bridge
        The name of ROS packages
        ros-<ros distro>-<packages name>
        foxy rmw-cyclonedds-cpp
        
        Installation Flow:
        
        Add apt key for ROS
        
        Install ROS
        
        Modify bashrc
        
        Install necessary packages
        
        Pain Points
        
        What we have now
        
        Follow ROS 1 & ROS 2 tutorial to
        install steps by steps
        
        1 more item...
        
        What we expect
        
        One click for installation
        
        1 more item...
- - - - ROS 2 verification
        
        Termain 1: ros2 run turtlesim turtlesim_node
        Termain 2: ros2 run turtlesim turtle_teleop_key
        
        ROS1-bridge Verification
        
        Termain 1 (ROS 1): roscore
        Termain 2 (ROS 1): rosrun rospy_tutorials listener
        Termain 3 (ROS 2): ros2 run demo_nodes_py talker
        Termain 4 (Bridge): ros2 run ros1_bridge dynamic_bridge
        
        Note: Actually, ROS bridge will run automatically after choosing ROS2/ROS1_bridge.
- - - - $roscd roscpp_tutorials/
        切換至launch目錄下
        $vim launch/talker_listener.launch
        打開編輯launch檔
- - - - rm -rf *
      - workspace environment overlay概念
        rospack list | grep rospy_tutorials
        //列出原生package路徑
        echo $ROS_PACKAGE PATH
        //列出package路徑
        source devel/setup.bash
        //透過source更改環境overlay
        rospack list | grep rospy_tutorials
        //列出就會是新編譯專案package路徑
        
        ROS Environment Variable
        ROS_DISTRO: ROS distribution, e.g. noetic
        ROS_MASTER_URI: Tell ROS node where to locate master
        ROS_IP/ROS_HOSTNAME: Network Address of ROS node
        ROS_ROOT: Where the ROS root path is
        ROS_PACKAGE_PATH: Tell ROS system where to search the packages
        使用方式直接echo
        echo $ROS_IP
        如果是使用ros menu可以ros_menu_env直接列出常見環境變數
        http://wiki.ros.org/ROS/EnvironmentVariables