Simon Shi的小站

人工智能，机器学习， 强化学习，大模型，自动驾驶

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ROS2

Posted on Edited on

install ROS2

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sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
sudo apt update
sudo apt install ros-foxy-desktop
echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
source ~/.bashrc
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# sudo apt install colcon-common-extensions

sudo apt install python3-colcon-common-extensions

Build

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colcon build --packages-select mbot_description
colcon build --packages-select mbot_bringup
colcon build --packages-select sllidar_ros2

# ros2 launch mbot_description gazebo.launch
source ~/ros2_ws/install/setup.bash
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$ ubuntu@ubuntu:~/ros2_ws$ colcon build --packages-select sllidar_ros2
[3.464s] WARNING:colcon.colcon_cmake.package_identification.cmake:Ignoring 'src/CMakeLists.txt' since it seems to be a toplevel CMake file generated by 'catkin_make'
Starting >>> sllidar_ros2
Finished <<< sllidar_ros2 [2.22s]                     

Summary: 1 package finished [4.26s]
ubuntu@ubuntu:~/ros2_ws$ 
ubuntu@ubuntu:~/ros2_ws$ colcon build --packages-select mbot_description
[3.425s] WARNING:colcon.colcon_cmake.package_identification.cmake:Ignoring 'src/CMakeLists.txt' since it seems to be a toplevel CMake file generated by 'catkin_make'
Starting >>> mbot_description
Finished <<< mbot_description [10.8s]            

Summary: 1 package finished [12.8s]
ubuntu@ubuntu:~/ros2_ws$ 
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sudo apt install software-properties-common
sudo add-apt-repository universe
# "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main"
sudo add-apt-repository "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main"
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

BUG 思路 (foxy)

1、报错日志，百度+通义千问，给出了解决方案（但是代码实现跟本地不一致，硬套失败）

2、AI给的解决方案，都是成员函数的bind，没转换过来思路（总以为是参数的原因）

  • cmdCallback3函数不是一个类成员函数，因此不能使用std::bind与this结合的方式绑定到订阅器上。如果cmdCallback3确实是类的成员函数，那么它应该被声明为该类的一个成员，并且需要使用正确的绑定方式。
  • 实际上，不需要bind，就是原本的参数方式！！！！！！

3、阅读源码，（确认了calback3的参数与回调函数的模板一致）
/opt/ros/foxy/include/rclcpp/rclcpp.hpp

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* - Subscription
*   - rclcpp::Node::create_subscription()
*   - rclcpp::Subscription
*   - rclcpp/subscription.hpp

查到实现subscribe的代码：

/opt/ros/foxy/include/rclcpp/subscription.hpp

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/// Default constructor.
  /**
   * The constructor for a subscription is almost never called directly.
   * Instead, subscriptions should be instantiated through the function
   * rclcpp::create_subscription().
   */
///
Subscription(
    rclcpp::node_interfaces::NodeBaseInterface * node_base,
    const rosidl_message_type_support_t & type_support_handle,
    const std::string & topic_name,
    const rclcpp::QoS & qos,
    AnySubscriptionCallback<CallbackMessageT, AllocatorT> callback,
    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
    typename MessageMemoryStrategyT::SharedPtr message_memory_strategy,
    SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics = nullptr)

确认回调入口：AnySubscriptionCallback

AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_callback_;

    vim /opt/ros/foxy/include/rclcpp/any_subscription_callback.hpp

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AnySubscriptionCallback


  using SharedPtrCallback = std::function<void (const std::shared_ptr<MessageT>)>;
  using SharedPtrWithInfoCallback =
   std::function<void (const std::shared_ptr<MessageT>, const rclcpp::MessageInfo &)>;
   // const 单个参数的，就这个了！！！！！！！！
  using ConstSharedPtrCallback = std::function<void (const std::shared_ptr<const MessageT>)>;
  using ConstSharedPtrWithInfoCallback =
    std::function<void (const std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)>;
  using UniquePtrCallback = std::function<void (MessageUniquePtr)>;
  using UniquePtrWithInfoCallback =
    std::function<void (MessageUniquePtr, const rclcpp::MessageInfo &)>;

4、Finally

Build PASS

RUN

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$ros2 launch mbot_bringup mbot_with_lidar_launch.py