实习记录（一）：用ros一个节点封装成类实现topic收发
用ros一个节点封装成类实现topic收发
2020.07.16~2020.07.17
1.任务
已有一个 filename.bag，其中有多个topic信息
点云 - topic名为 xxxx, 要求接收点云，发出点云的size (std_msgs/UInt32)
用一个类实现
2.环境 & 工具
ubuntu16.04
ROS kinetic
C++
git
3.准备工作
1）新建工作空间，新建包
$ source /opt/ros/kinetic/setup.bash
$ mkdir -p ~/catkin_ws/src
$ catkin_create_pkg pkg_name std_msgs rospy roscpp
2）vscode配置
#查看隐藏文件 ctrl + H
#工程文件夹路径下去生成.vscode文件夹，里面的c_cpp_properties.json
#配置完后的头文件报错点击vscode智能提示小灯泡解决
{
"configurations": [
{
"browse": {
"databaseFilename": "",
"limitSymbolsToIncludedHeaders": true
},
"includePath": [
"${workspaceFolder}/**",
"/opt/ros/kinetic/include/**",
"/usr/include/**",
"/usr/local/include/**",
"/opt/ros/kinetic/include",
"${workspaceFolder}/src/serial_writer/include"
],
"name": "Linux",
"intelliSenseMode": "gcc-x64",
"compilerPath": "/usr/bin/gcc",
"cStandard": "c11",
"cppStandard": "c++17",
"compileCommands": "${workspaceFolder}/build/compile_commands.json"
}
],
"version": 4
}
3）在filename.bag文件所在路径打开新的终端,查看点云的topic类型，然后查这个类型的成员变量有哪些，写代码会用到
$ rosbag info filename.bag
4.代码
//main.cpp
#include "points_size.h"
int main(int argc, char** argv)
{
ros::init(argc, argv, "points_size_main");
std::cout << "Program Start ..." << std::endl;
xxxx::PointSizePublisher point_size_pub;
ros::spin();
return 0;
}
//类.h
#ifndef POINT_SIZE_H
#define POINT_SIZE_H
#include "ros/ros.h"
#include "sensor_msgs/PointCloud2.h"
#include "std_msgs/UInt32.h"
#include //类.cpp
#include "points_size.h"
namespace xxxx
{
void PointSizePublisher::lidarpointsCallback(const sensor_msgs::PointCloud2::ConstPtr& _msg)
{
std_msgs::UInt32 size_;
size_.data = _msg->height * _msg->width;
pointscloud_pub_.publish(size_);
ROS_INFO("size_of_lidar_points : %d", size_.data);
};
} // namespace xxxx
//cmakelist
cmake_minimum_required(VERSION 3.0.2)
project(pkg_name)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
sensor_msgs )
catkin_package()
include_directories(
include ${catkin_INCLUDE_DIRS} )
add_library(points_size
include/points_size.h
src/points_size.cpp )
add_dependencies(
points_size
${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(
points_size_main
src/points_size_main.cpp)
target_link_libraries(
points_size_main
points_size
${catkin_LIBRARIES} )
5.运行测试
1）打开新的终端启动roscore
2）在filename.bag文件所在路径打开新的终端，循环播包
$ rosbag play -l filename.bag
3）在工作空间路径打开新的终端，编译运行
$ catkin_make
$ source devel/setup.bash
$ rosrun pkg_name points_size_main
6.提交
1）仓库里记得添加LICENCE（公司的）、.gitignore（git提交时会忽略哪些文件在里面定义）、.clang-format（代码格式配置）
#.gitignore
# GNU global tags
GTAGS
GRTAGS
GSYMS
GPATH
tags
debian
obj-x86_64-linux-gnu
# Python byte-compile file
__pycache__/
*.py[co]
# editor backup files
*~
\#*\#
build/
utest/data/
installer/
# backup files
*.bak
# Eclipse
.cproject
.project
.pydevproject
.settings/
# CLion
.idea/
cmake-build-*/
# vs code
.vscode
# clang-format
# .clang-format
# ROSBag files
*.bag
*.pcd
*.pcap
# Environments
.env
.venv
env/
venv/
ENV/
# gvim ycm
.ycm_extra_conf.py
# lidar hardware config file
*.csv
配置.clang-format
sudo apt-get install clang-format
ln -s dir_to_git_template ~/.git_template
git config --global init.templatedir ~/.git_template
git config --global commit.template ~/.git_templates/.gitmessage.txt
cp clang-format your_git_root_project/.clang-format
#.clang-format
---
BasedOnStyle: Google
AccessModifierOffset: -2
ConstructorInitializerIndentWidth: 2
AlignEscapedNewlinesLeft: false
AlignTrailingComments: true
AllowAllParametersOfDeclarationOnNextLine: false
AllowShortIfStatementsOnASingleLine: false
AllowShortLoopsOnASingleLine: false
AllowShortFunctionsOnASingleLine: None
AllowShortLoopsOnASingleLine: false
AlwaysBreakTemplateDeclarations: true
AlwaysBreakBeforeMultilineStrings: false
BreakBeforeBinaryOperators: false
BreakBeforeTernaryOperators: false
BreakConstructorInitializersBeforeComma: true
BinPackParameters: true
ColumnLimit: 120
ConstructorInitializerAllOnOneLineOrOnePerLine: true
DerivePointerBinding: false
PointerBindsToType: true
ExperimentalAutoDetectBinPacking: false
IndentCaseLabels: true
MaxEmptyLinesToKeep: 1
NamespaceIndentation: None
ObjCSpaceBeforeProtocolList: true
PenaltyBreakBeforeFirstCallParameter: 19
PenaltyBreakComment: 60
PenaltyBreakString: 1
PenaltyBreakFirstLessLess: 1000
PenaltyExcessCharacter: 1000
PenaltyReturnTypeOnItsOwnLine: 90
SpacesBeforeTrailingComments: 2
Cpp11BracedListStyle: false
Standard: Auto
IndentWidth: 2
TabWidth: 2
UseTab: Never
IndentFunctionDeclarationAfterType: false
SpacesInParentheses: false
SpacesInAngles: false
SpaceInEmptyParentheses: false
SpacesInCStyleCastParentheses: false
# if else for 后的空格
SpaceAfterControlStatementKeyword: true
SpaceBeforeAssignmentOperators: true
ContinuationIndentWidth: 4
SortIncludes: false
SpaceAfterCStyleCast: false
# Configure each individual brace in BraceWrapping
BreakBeforeBraces: Custom
# Control of individual brace wrapping cases
BraceWrapping: {
AfterClass: 'true'
AfterControlStatement: 'true'
AfterEnum : 'true'
AfterFunction : 'true'
AfterNamespace : 'true'
AfterStruct : 'true'
AfterUnion : 'true'
BeforeCatch : 'true'
BeforeElse : 'true'
IndentBraces : 'false'
}
...
2）gitlab 和 github 用法是一样的
#第一次要全局配置git
$ git config --global user.name "name"
$ git config --global user.email [email protected]
#进入远程仓库查看地址，将仓库下载下来
$ git clone 地址
#进入下载好的本地仓库路径,打开新的终端
#如果要删掉提交过的仓库里本来有的文件，用git命令去删，不能直接删除，后续git会匹配出错，解决非常麻烦，哭~
#此时仓库路径分支默认为 master
#新建分支，并且切换过去
$ git checkout -b 分支名
#将需要提交的内容放进本地仓库的文件夹内
#将所有修改提交到暂存区，如果要取消本次全部add使用 git reset HEAD
$ git add .
#查看add修改内容
$ git status
#正式提交，如果要取消本次commit使用 git reset --soft HEAD^，
#^个数表示回退版本数，soft表示不改变文件状态只取消commit记录，
#特别注意改成hard表示文件一并回退到之前的版本，新文件会全被删掉，记得备份，哭~
$ git commit -m "备注"
#查看所有commit提交记录
$ git log
#提交到远程仓库
$ git push origin 分支名
结语：进入实习第一个任务，是前辈为了让我们熟悉流程规范用的，本来一个感觉还挺简单的任务，具体做起来疯狂踩坑，代码命名与格式规范也是写完之后发现不符然后一点点改正，用了两个工作日才彻底完成，知行合一还是不容易啊
另注：本文为自用实习记录，以上涉及公司名称的部分全部采用xxxx处理