ros topicテスト例
6318 ワード
1、launchファイルを開き、シミュレーション環境を起動する
roscore
roslaunch robot_sim_demo robot_spawn.launch #
itx@turtlebot:~$ roslaunch robot_sim_demo robot_spawn.launch
... logging to /home/itx/.ros/log/649056f4-0fe8-11e9-a894-74de2b44b71c/roslaunch-turtlebot-24669.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://10.180.179.209:45301/
SUMMARY
========
PARAMETERS
* /cmd_vel_mux/yaml_cfg_file: /home/itx/tutoria...
* /robot_description:
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /use_sim_time: True
* /xbot/joint_state_controller/publish_rate: 50
* /xbot/joint_state_controller/type: joint_state_contr...
* /xbot/pitch_platform_position_controller/joint: yaw_to_pitch_plat...
* /xbot/pitch_platform_position_controller/pid/d: 10.0
* /xbot/pitch_platform_position_controller/pid/i: 0.01
* /xbot/pitch_platform_position_controller/pid/p: 100.0
* /xbot/pitch_platform_position_controller/type: effort_controller...
* /xbot/robot_state_publisher/publish_frequency: 20.0
* /xbot/yaw_platform_position_controller/joint: base_to_yaw_platform
* /xbot/yaw_platform_position_controller/pid/d: 10.0
* /xbot/yaw_platform_position_controller/pid/i: 0.01
* /xbot/yaw_platform_position_controller/pid/p: 100.0
* /xbot/yaw_platform_position_controller/type: effort_controller...
NODES # nodes node
/xbot/
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawner (controller_manager/spawner)
/
cmd_vel_mux (nodelet/nodelet)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
mobile_base_nodelet_manager (nodelet/nodelet)
urdf_spawner (gazebo_ros/spawn_model)
ROS_MASTER_URI=http://localhost:11311
# nodes process 7
process[gazebo-1]: started with pid [24689]
process[gazebo_gui-2]: started with pid [24694]
process[urdf_spawner-3]: started with pid [24699]
process[xbot/spawner-4]: started with pid [24700]
process[xbot/robot_state_publisher-5]: started with pid [24701]
process[mobile_base_nodelet_manager-6]: started with pid [24703]
process[cmd_vel_mux-7]: started with pid [24718]
2、すべてのTopicを見る
itx@turtlebot:~$ rostopic list
/camera/depth/camera_info
/camera/depth/image_raw #
/camera/depth/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw # rgb
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/clock
/cmd_vel
/cmd_vel_mux/active # ，
/cmd_vel_mux/input/avoid
/cmd_vel_mux/input/navi
/cmd_vel_mux/input/safety_controller
/cmd_vel_mux/input/switch
/cmd_vel_mux/input/teleop
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/imu
/joint_states
/mobile_base_nodelet_manager/bond
/odom
/rosout
/rosout_agg
/scan
/tf # transform
/tf_static
/xbot/joint_states
/xbot/pitch_platform_position_controller/command
/xbot/pitch_platform_position_controller/pid/parameter_descriptions
/xbot/pitch_platform_position_controller/pid/parameter_updates
/xbot/pitch_platform_position_controller/state
/xbot/yaw_platform_position_controller/command
/xbot/yaw_platform_position_controller/pid/parameter_descriptions
/xbot/yaw_platform_position_controller/pid/parameter_updates
/xbot/yaw_platform_position_controller/state
3、表示/camera/rgb/image_rawというtopicのプロパティ情報
topicには以下の3つの情報が含まれています
itx@turtlebot:~$ rostopic info /camera/rgb/image_raw
Type: sensor_msgs/Image #
Publishers: #
* /gazebo (http://10.180.179.209:41085/) # 1 node
Subscribers: None #
このことから,この時点で購読者はいないことが分かる.
4、image_を使うviewサブスクライバとしてメッセージを受信
rosrun image_view image_view image:=/camera/rgb/image_raw # image:= image nodelet_plugins.xml
[ INFO] [1546616959.571473531, 7864.310000000]: Using transport "raw"
$ rosrun [--prefix cmd] [--debug] pkg_name node_name [ARGS] # rosrun
imageを見てみましょうviewこのパッケージ
itx@turtlebot:~$ roscd image_view/
itx@turtlebot:/opt/ros/kinetic/share/image_view$ ls
cmake nodelet_plugins.xml package.xml
itx@turtlebot:/opt/ros/kinetic/share/image_view$ cat nodelet_plugins.xml
Nodelet to view a sensor_msgs/Image topic
Nodelet to view a stereo_msgs/DisparityImage topic
新しいnodeが2つ追加されていることがわかります
itx@turtlebot:~$ rosnode list
/cmd_vel_mux
/gazebo
/gazebo_gui
/image_view_1546616674359947887 # image_view
/image_view_1546616958807306805 # image_view
/mobile_base_nodelet_manager
/rosout
/turtlebot_teleop_keyboard
/xbot/robot_state_publisher
/xbot/spawner
もう一度topic infoを表示
itx@turtlebot:~$ rostopic info /camera/rgb/image_raw
Type: sensor_msgs/Image
Publishers:
* /gazebo (http://10.180.179.209:41085/)
Subscribers:
* /image_view_1546616958807306805 (http://10.180.179.209:43049/)
この時点ですでにSubscribersがあります.