ROS 使用stage进行（LaserScan）激光扫描仿真
以my_stage为例
创建工程名为my_stage的package。
运行以下命令：
cd ~/catkin_ws/src
catkin_create_pkg my_stage std_msgs roscpp
std_msgs roscpp 为依赖包在my_stage 中的src中新建my_stage.cpp文件
/*
* my_stage.cpp
*
* Created on: Jul 30, 2016
* Author: unicorn
*/
#include("cmd_vel",10);
laserSub=node.subscribe("base_scan",1,&Stopper::scanCallback,this);
}
void Stopper::moveForward(){
geometry_msgs::Twist msg;
msg.linear.x=FORWARD_SPEED_MPS;
commandPub.publish(msg);
}
void Stopper::scanCallback(const sensor_msgs::LaserScan::ConstPtr &scan){
int minIndex=ceil(( MIN_SCAN_ANGLE_RAD - scan->angle_min) / scan-> angle_increment);
int maxIndex = floor(( MAX_SCAN_ANGLE_RAD - scan->angle_min) / scan-> angle_increment);
float closestRange = scan->ranges[minIndex];
for (int currIndex = minIndex + 1; currIndex <= maxIndex; currIndex++) {
if (scan->ranges[currIndex] < closestRange) {
closestRange = scan->ranges[currIndex];
}
}
ROS_INFO_STREAM("Closest range: " << closestRange);
if (closestRange < MIN_PROXIMITY_RANGE_M) {
ROS_INFO("Stop!");
keepMoving = false;
}
}
void Stopper::startMoving(){
ros::Rate rate(10);
ROS_INFO("start moving");
while(ros::ok()&&keepMoving){
moveForward();
ros::spinOnce();
rate.sleep();
}
}
int main(int argc,char **argv){
ros::init(argc,argv,"stopper");
Stopper stopper;
stopper.startMoving();
return 0;
} 修改CMakeLists文件如下
cmake_minimum_required(VERSION 2.8.3)
project(my_stage)
## 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
std_msgs
)
## 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
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.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 you 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_stage
# CATKIN_DEPENDS roscpp std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(my_stage
# src/${PROJECT_NAME}/my_stage.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(my_stage ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
add_executable(my_stage src/my_stage.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(my_stage_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(my_stage
${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 my_stage my_stage_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_stage.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)package.xml文件
<package>
<name>my_stagename>
<version>0.0.0version>
<description>The my_stage packagedescription>
<maintainer email="[email protected]">unicornmaintainer>
<license>TODOlicense>
<buildtool_depend>catkinbuildtool_depend>
<build_depend>roscppbuild_depend>
<build_depend>std_msgsbuild_depend>
<run_depend>roscpprun_depend>
<run_depend>std_msgsrun_depend>
<export>
export>
package>新建在my_stage目录下新建launch文件夹，在luanch文件夹下新建my_stage.launch文件
"stage" pkg="stage_ros" type = "stageros" args="$(find stage_ros)/world/willow-erratic.world"/>
"my_stage" pkg = "my_stage" type = "my_stage"
output = "screen" />
运行：
cd ~/catkin_ws //跳转到工作空间目录
catkin_make
roscore
roslaunch my_stage my_stage.launch结果显示：
