发布机器人行走路线功能包
This commit is contained in:
LiuJR
parent
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commit
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.gitignore
vendored
52
.gitignore
vendored
@ -1,22 +1,10 @@
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# IDEA
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.idea/
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.vscode/
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# ---> ROS
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build/
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bin/
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lib/
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msg_gen/
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srv_gen/
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msg/*Action.msg
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msg/*ActionFeedback.msg
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msg/*ActionGoal.msg
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msg/*ActionResult.msg
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msg/*Feedback.msg
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msg/*Goal.msg
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msg/*Result.msg
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msg/_*.py
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# Generated by dynamic reconfigure
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*.cfgc
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/cfg/cpp/
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/cfg/*.py
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devel/
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# Ignore generated docs
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*.dox
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@ -25,33 +13,11 @@ msg/_*.py
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# eclipse stuff
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.project
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.cproject
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# qcreator stuff
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CMakeLists.txt.user
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srv/_*.py
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*.pcd
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*.pyc
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qtcreator-*
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*.user
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/planning/cfg
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/planning/docs
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/planning/src
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*~
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# Emacs
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.#*
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# Catkin custom files
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CATKIN_IGNORE
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.catkin_workspace
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# ---> Python
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# Byte-compiled / optimized / DLL files
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__pycache__/
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*.py[cod]
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*$py.class
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# C extensions
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*.so
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@ -65,14 +31,8 @@ dist/
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downloads/
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eggs/
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.eggs/
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lib/
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lib64/
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parts/
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sdist/
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var/
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*.egg-info/
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.installed.cfg
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*.egg
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# PyInstaller
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# Usually these files are written by a python script from a template
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1
src/CMakeLists.txt
Symbolic link
1
src/CMakeLists.txt
Symbolic link
@ -0,0 +1 @@
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/opt/ros/noetic/share/catkin/cmake/toplevel.cmake
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210
src/showpath/CMakeLists.txt
Normal file
210
src/showpath/CMakeLists.txt
Normal file
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cmake_minimum_required(VERSION 3.0.2)
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project(showpath)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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nav_msgs
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roscpp
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rospy
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sensor_msgs
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std_msgs
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tf
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# nav_msgs# sensor_msgs# std_msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES showpath
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# CATKIN_DEPENDS nav_msgs roscpp rospy sensor_msgs std_msgs tf
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/showpath.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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add_executable(showpath src/showpath.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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target_link_libraries(showpath ${catkin_LIBRARIES})
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# catkin_install_python(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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# install(TARGETS ${PROJECT_NAME}_node
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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# install(TARGETS ${PROJECT_NAME}
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_showpath.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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4
src/showpath/README.md
Normal file
4
src/showpath/README.md
Normal file
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# showpath
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发布行走线路的轨迹
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0
src/showpath/include/showpath/.gitkeep
Normal file
0
src/showpath/include/showpath/.gitkeep
Normal file
77
src/showpath/package.xml
Normal file
77
src/showpath/package.xml
Normal file
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<?xml version="1.0"?>
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<package format="2">
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<name>showpath</name>
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<version>0.0.0</version>
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<description>The showpath package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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<maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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<!-- Url tags are optional, but multiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/showpath</url> -->
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<!-- Author tags are optional, multiple are allowed, one per tag -->
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<!-- Authors do not have to be maintainers, but could be -->
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<!-- Example: -->
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<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
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<!-- The *depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
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<!-- <depend>roscpp</depend> -->
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<!-- Note that this is equivalent to the following: -->
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<!-- <build_depend>roscpp</build_depend> -->
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<!-- <exec_depend>roscpp</exec_depend> -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use build_export_depend for packages you need in order to build against this package: -->
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<!-- <build_export_depend>message_generation</build_export_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use exec_depend for packages you need at runtime: -->
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<!-- <exec_depend>message_runtime</exec_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<!-- Use doc_depend for packages you need only for building documentation: -->
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<!-- <doc_depend>doxygen</doc_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>nav_msgs</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>rospy</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>tf</build_depend>
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<build_export_depend>nav_msgs</build_export_depend>
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<build_export_depend>roscpp</build_export_depend>
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<build_export_depend>rospy</build_export_depend>
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<build_export_depend>sensor_msgs</build_export_depend>
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<build_export_depend>std_msgs</build_export_depend>
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<build_export_depend>tf</build_export_depend>
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<exec_depend>nav_msgs</exec_depend>
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<exec_depend>roscpp</exec_depend>
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<exec_depend>rospy</exec_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>tf</exec_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>
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73
src/showpath/src/showpath.cpp
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73
src/showpath/src/showpath.cpp
Normal file
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#include <ros/ros.h>
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#include <ros/console.h>
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#include <nav_msgs/Path.h>
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#include <std_msgs/String.h>
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#include <geometry_msgs/Quaternion.h>
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#include <geometry_msgs/PoseStamped.h>
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#include <tf/transform_broadcaster.h>
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#include <tf/tf.h>
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int main (int argc, char **argv)
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{
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ros::init (argc, argv, "showpath");
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ros::NodeHandle ph;
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ros::Publisher path_pub = ph.advertise<nav_msgs::Path>("trajectory",1, true);
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ros::Time current_time, last_time;
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current_time = ros::Time::now();
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last_time = ros::Time::now();
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nav_msgs::Path path;
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//nav_msgs::Path path;
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path.header.stamp=current_time;
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path.header.frame_id="odom";
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double x = 0.2;
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double y = 0.2;
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double th = 0.0;
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double vx = 0.1;
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double vy = -0.1;
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double vth = 0.1;
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ros::Rate loop_rate(10);
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while (ros::ok())
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{
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current_time = ros::Time::now();
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//compute odometry in a typical way given the velocities of the robot
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double dt = 0.1;
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double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
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double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
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double delta_th = vth * dt;
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x += delta_x;
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y += delta_y;
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th += delta_th;
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geometry_msgs::PoseStamped this_pose_stamped;
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this_pose_stamped.pose.position.x = x;
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this_pose_stamped.pose.position.y = y;
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geometry_msgs::Quaternion goal_quat = tf::createQuaternionMsgFromYaw(th);
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this_pose_stamped.pose.orientation.x = 0;
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this_pose_stamped.pose.orientation.y = 0;
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this_pose_stamped.pose.orientation.z = 0;
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this_pose_stamped.pose.orientation.w = 0;
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this_pose_stamped.header.stamp=current_time;
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this_pose_stamped.header.frame_id="odom";
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path.poses.push_back(this_pose_stamped);
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path_pub.publish(path);
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ros::spinOnce(); // check for incoming messages
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last_time = current_time;
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loop_rate.sleep();
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}
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return 0;
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}
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