机器人操作系统ROS__语音识别_语义理解_视觉控制_gazebo仿真_雷达建图导航_Ros.zip

# Industrial Core [](http://build.ros.org/job/Idev__industrial_core__ubuntu_trusty_amd64) [ROS-Industrial][] core meta-package. See the [ROS wiki][] page for more information. ## Contents Branch naming follows the ROS distribution they are compatible with. `-devel` branches may be unstable. Releases are made from the distribution branches (`hydro`, `indigo`, `jade`). Older releases may be found in the old ROS-Industrial [subversion repository][]. [ROS-Industrial]: http://wiki.ros.org/Industrial [ROS wiki]: http://wiki.ros.org/industrial_core [subversion repository]: https://github.com/ros-industrial/swri-ros-pkg # 参考　 http://ros-industrial.github.io/industrial_training/_source/session4/Introduction-to-Perception.html # 安装ar 仿真工件　测试包 sudo apt install ros-indigo-calibration-msgs cd ~/catkin_ws/src git clone https://github.com/jmeyer1292/fake_ar_publisher.git source devel/setup.bash rospack find fake_ar_publisher //找到安装包 # 创建包 cd ~/catkin_ws/src catkin_create_pkg myworkcell_core roscpp cd myworkcell_core ## gedit package.xml // 修改 <build_depend>roscpp</build_depend> 编译依赖 <build_depend>fake_ar_publisher</build_depend> <run_depend>fake_ar_publisher</run_depend> 运行依赖 <run_depend>roscpp</run_depend> ## gedit CMakeList.txt // 修改 add_compile_options(-std=c++11) # 支持c++ 11 新标准 find_package(catkin REQUIRED COMPONENTS roscpp fake_ar_publisher#依赖其他的包 ) catkin_package( # INCLUDE_DIRS include # LIBRARIES myworkcell_core CATKIN_DEPENDS roscpp fake_ar_publisher#运行依赖 其他的包 # DEPENDS system_lib ) add_executable(vision_node src/vision_node.cpp) # 可执行文件 #依赖 add_dependencies(vision_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) #连接 target_link_libraries(vision_node ${catkin_LIBRARIES}) ### 查看信息列表 rosmsg list 显示信息详情 rosmsg show fake_ar_publisher/ARMarker >>> std_msgs/Header header uint32 seq time stamp string frame_id uint32 id geometry_msgs/PoseWithCovariance pose geometry_msgs/Pose pose geometry_msgs/Point position float64 x float64 y float64 z geometry_msgs/Quaternion orientation float64 x float64 y float64 z float64 w float64[36] covariance uint32 confidence ## Simple ROS Node /** ** Simple ROS Node ** vision_node.cpp **/ #include <ros/ros.h>// 系统头文件 #include <fake_ar_publisher/ARMarker.h>// 自定义消息头文件 // 自定义类 class Localizer { public: // 类 初始化函数 Localizer(ros::NodeHandle& nh)//节点句柄引用 { // 订阅者 消息类型 话题名 队列大小 ar_sub_ = nh.subscribe<fake_ar_publisher::ARMarker>("ar_pose_marker", 1, &Localizer::visionCallback, this);// 回调函数指针 类自己 } // 话题回调函数 void visionCallback(const fake_ar_publisher::ARMarkerConstPtr& msg)// 引用 常量指针 { last_msg_ = msg;//复制一下放置 变化 ROS_INFO_STREAM(last_msg_->pose.pose);//打印位置 } // 变量定义 ros::Subscriber ar_sub_;// 订阅者 fake_ar_publisher::ARMarkerConstPtr last_msg_;//常量指针 }; int main(int argc, char *argv[] ){ // 初始化 ros节点 ros::init(argc, argv, "vision_node"); // 创建ros节点句柄 ros::NodeHandle nh; Localizer localizer(nh); ROS_INFO("Vision node starting"); // 节点 存活 rosnode list 可以一直看到 ros::spin(); } ## 运行 roscore rosrun fake_ar_publisher fake_ar_publisher_node rosrun workcell_core vision_node ## 查看节点间关系 rqt_graph ############################################################################### ## 服务 类似函数调用------------------------------------------------------ srv/LocalizePart.srv #request 请求 string base_frame #目标基坐标系 名称 --- #response 回应 geometry_msgs/Pose pose # 目标坐标系位姿 位置 和 姿态 --------------------------------------------------------------------- gedit package.xml // 修改 <build_depend>roscpp</build_depend> <build_depend>fake_ar_publisher</build_depend> <build_depend>message_generation</build_depend> <build_depend>geometry_msgs</build_depend> <run_depend>roscpp</run_depend> <run_depend>fake_ar_publisher</run_depend> <run_depend>message_runtime</run_depend> <run_depend>geometry_msgs</run_depend> ------------------------------------------------------------------- gedit CMakeList.txt // 修改 # 包编译依赖 find_package(catkin REQUIRED COMPONENTS roscpp fake_ar_publisher#依赖其他的包 message_generation geometry_msgs ) #添加服务文件 ## Generate services in the 'srv' folder add_service_files( FILES LocalizePart.srv # Service1.srv # Service2.srv ) #信息生成 依赖 ## Generate added messages and services with any dependencies listed here generate_messages( DEPENDENCIES std_msgs # Or other packages containing msgs geometry_msgs ) #包运行依赖 catkin_package( # INCLUDE_DIRS include # LIBRARIES myworkcell_core CATKIN_DEPENDS roscpp fake_ar_publisher#运行依赖 其他的包 message_runtime geometry_msgs # DEPENDS system_lib ) # 提供获取目标位置 服务的节点 订阅话题监控 服务 add_executable(ARserver_node src/ARserver.cpp) # 可执行文件 #依赖 add_dependencies(ARserver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) #连接 target_link_libraries(ARserver_node ${catkin_LIBRARIES}) # 客户端 请求获取目标位置的服务 add_executable(ARclient_node src/ARclient.cpp) # 可执行文件 #依赖 add_dependencies(ARclient_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) #连接 target_link_libraries(ARclient_node ${catkin_LIBRARIES}) ## ARserver.cpp 服务器 --------------------------------------------------------------------- /** ** Simple ROS Node ** ARserver.cpp 服务器 **/ #include <ros/ros.h>// 系统头文件 // git clone https://github.com/jmeyer1292/fake_ar_publisher.git 安装 #include <fake_ar_publisher/ARMarker.h>// 自定义消�