file

Natsu-Akatsuki · Jul 26, 2023 · adb5a59 · adb5a59
1 parent 2ea34cc
commit adb5a59
Show file tree

Hide file tree

Showing 17 changed files with 367 additions and 287 deletions.
diff --git a/docs/Beginner/CMake and Package.md b/docs/Beginner/CMake and Package.md
@@ -63,46 +63,64 @@ ament_auto_package()
         CMakeLists.txt
     </summary>
 
-
-</details>
-
 <!-- tabs:start -->
 
 #### **ROS2**
 
-```cmake
-cmake_minimum_required(VERSION 3.11)  
-project(<project_name>)
+具体参考 [Here](https://docs.ros.org/en/iron/How-To-Guides/Ament-CMake-Documentation.html)
 
-# ======================= COMPILE OPTION =======================
+由于 ament_auto_find_build_dependencies() 命令会根据 package.xml 导入相关的依赖，所以一定得有 package.xml 文件）
+
+当前的最佳实践是基于 targets 的导入，因此推荐使用 ament_target_dependencies() 命令来替代 target_link_library() 和 include_directory() 命令
+
+```cmake
+cmake_minimum_required(VERSION 3.8)  
+project(<工程名>)
+
+# >>> 通用配置 >>>
+# 设置优化等级
+if (NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RELEASE)
+endif ()
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0"))
+
+# 设置标准
 set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_BUILD_TYPE RELEASE)
+
+# 设置编译选项
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
 
-# 导入宏包
+# >>> 导入三方包 >>>
+find_package(PCL REQUIRED)
+
+# >>> 导入 ROS 包 >>>
 find_package(ament_cmake_auto REQUIRED)
-# 根据package.xml导入相关的依赖（所以一定得有package.xml）
+
+# >>> 查找相关的依赖 >>>
 ament_auto_find_build_dependencies()
   
-# 等价于导入相关的ROS头文件和依赖库
+# >>> 构建目标文件 >>>
 ament_auto_add_executable(<target_name> <sources>)
+ament_auto_add_library(<target_name> <sources>)
+ament_target_dependencies(<target_name> Eigen3)
 
-# 导出相关的配置文件和进行安装
-ament_auto_package()
-
-# 不同于ROS1会在源目录中查找文件，ROS2需要显式安装相关内容到install目录，为更好的维护建议编译时使用关键词--symlink-install
+# >>> 导出非配置文件 >>>
 install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME})
 
 install(DIRECTORY rviz_cfg
   DESTINATION share/${PROJECT_NAME})
+  
+# >>> 导出相关的配置文件和进行安装 >>>
+ament_auto_package()
 ```
 
 #### **ROS1**
 
 ```cmake
-cmake_minimum_required(VERSION 3.14)
-project(工程名)
+cmake_minimum_required(VERSION 3.8)
+project(<工程名>)
 
 # ======================= COMPILE OPTION =======================
 set(CMAKE_CXX_STANDARD 17)
@@ -118,11 +136,11 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 catkin_package(
-  INCLUDE_DIRS # 导出当前的头文件以被其他ROS包调用
+  INCLUDE_DIRS      # 导出当前的头文件以被其他ROS包调用
     include
-  LIBRARIES # 导出当前生成的库文件以被其他ROS包调用
+  LIBRARIES         # 导出当前生成的库文件以被其他ROS包调用
     route_handler
-  CATKIN_DEPENDS # 导出当前的ROS依赖，以被其他ROS包继承
+  CATKIN_DEPENDS    # 导出当前的ROS依赖，以被其他ROS包继承
     roscpp    
     pcl_ros
     sensor_msgs
@@ -142,6 +160,8 @@ target_link_libraries(route_handler ${catkin_LIBRARIES})
 
 <!-- tabs:end -->
 
+</details>
+
 ## Package.xml
 
 <details>

diff --git a/docs/Beginner/Interface.md b/docs/Beginner/Interface.md
@@ -214,8 +214,249 @@ catkin_package(
 
 ## Service
 
+<details>
+    <summary>:wrench: <b>用例 1：</b>
+        常用命令行
+    </summary>
+
+```bash
+# >>> 调用服务 >>>
+# ros2 service call /clear std_srvs/srv/Empty
+(ros2) ros2 service call <service_name> <service_type> [arguments]
+```
+
+</details>
+
+<details>
+    <summary>:wrench: <b>用例 2：</b>
+        初始化服务（客户端、服务端）
+    </summary>
+
+<!-- tabs:start -->
+
+#### **ROS2(C++)**
+
+ROS2 倾向于使用智能指针
+
+```cpp
+// >>> 客户端 >>>
+rclcpp::Client<包名::srv::服务名>::SharedPtr client_;
+client_ = node->create_client<CooperateCommands>(<服务类型>, [rmw_qos_profile_services_default]);
+
+// >>> 服务端 >>>
+rclcpp::Service<包名::srv::服务名>::SharedPtr service_;
+service_ = node->create_service<服务类型>(<服务名>, &回调函数);
+```
+
+#### **ROS1(C++)**
+
+```cpp
+// >>> 客户端 >>>
+ros::ServiceClient client_;
+client_ = pnh_.serviceClient<服务类型>(<服务名>);
+
+// >>> 服务端 >>>
+ros::ServiceServer service_;
+service_ = pnh_.advertiseService(<服务类型>, <回调函数>);
+```
+
+#### **ROS1(Python)**
+
+```python
+# >>> 客户端 >>>
+rospy.wait_for_service('服务名')
+service = rospy.ServiceProxy('服务名', 服务类型)
+
+# >>> 服务端 >>>
+rospy.Service('服务名', 服务类型, 回调函数)
+
+
+def onCallback(self, req):
+    pass
+```
+
+<!-- tabs:end -->
+
+</details>
+
+<details>
+    <summary>:wrench: <b>用例 3：</b>
+        等待服务
+    </summary>
+
+<!-- tabs:start -->
+
+#### **ROS1(C++)**
+
+```c++
+// 等待 1s
+while (!ros::service::waitForService(<服务名>, ros::Duration(1))) {
+  if (!ros::ok()) {
+    ROS_ERROR("Interrupted while waiting for service.");
+    ros::shutdown();
+    return;
+  }
+  ROS_INFO_STREAM("Waiting for service... [" << module_name << "]");
+}
+```
+
+#### **ROS2(C++)**
+
+ROS1 的 wait() 是普通函数，而 ROS2 的是成员函数
+
+```c++
+// concise
+using std::chrono_literals::operator ""s;
+client->wait_for_service(1s)
+
+// complex
+while (!client->wait_for_service(1s)) {
+  if (!rclcpp::ok()) {
+    RCLCPP_ERROR(node->get_logger(), "Interrupted while waiting for service.");
+    rclcpp::shutdown();
+    return;
+  }
+  RCLCPP_INFO_STREAM(node->get_logger(), "Waiting for service... [" << module_name << "]");
+}
+```
+
+#### **ROS1(Python)**
+
+不能仿效 C++的形式，尽管可以指定 timeout，但它是直接抛出异常 ROSException，而非返回 true/false
+
+```python
+
+import rospy
+
+rospy.init_node( < 节点名 >)
+rospy.wait_for_service( < 服务名 >)
+```
+
+<!-- tabs:end -->
+
+#### **ROS2(Python)**
+
+```python
+while not self.cli.wait_for_service(timeout_sec=1.0):
+    if not rclpy.is_shutdown():
+        node.get_logger().error("Interrupted while waiting for service.")
+        rclpy.shutdown()
+        return
+    node.get_logger().info("Waiting for service... [{}]".format(module_name))
+```
+
+</details>
+
+<details>
+    <summary>:wrench: <b>用例 4：</b>
+        回调函数
+    </summary>
+
+|  —  |                                                       ROS1                                                       |                                                                     ROS2                                                                     |
+|:---:|:----------------------------------------------------------------------------------------------------------------:|:--------------------------------------------------------------------------------------------------------------------------------------------:|
+| 返回值 |                                                      `bool`                                                      |                                                                    `void`                                                                    |
+| 形参  |                                                 引用（无 const，无指针）                                                  |                                                                 const + 智能指针                                                                 |
+| 示例  | bool on_clear_route(<br/>      ClearRoute::Service::Request &req,<br/>      ClearRoute::Service::Response &res); | void on_clear_route(<br/>    const ClearRoute::Service::Request::SharedPtr req,<br/>    const ClearRoute::Service::Response::SharedPtr res); |
+
+<!-- tabs:start -->
+
+#### **ROS1(C++)**
+
+```cpp
+// 类成员函数（无模板参数）
+srv_auto_mode_ = pnh->advertiseService("服务名", &RTCInterface::onAutoModeService, this);
+bool onAutoModeService(AutoMode::Request &request, AutoMode::Response &response);
+```
+
+#### **ROS2(C++)**
+
+```c++
+#include <memory>
+
+void callback(const std::shared_ptr<包名::srv::服务类型::Request> request,
+          std::shared_ptr<包名::srv::服务类型::Response> response)
+{
+  response->sum = request->a + request->b; 
+}
+
+rclcpp::Service<包名::srv::服务类型>::SharedPtr service =
+    node->create_service<包名::srv::服务类型>("服务名", &callback);
+```
+
+#### **ROS1(Python)**
+
 TODO
 
+#### **ROS2(Python)**
+
+```python
+self.srv = self.create_service( < 服务类型 >, < 服务名 >, self.callback)
+
+def callback(self, request, response):
+    return response
+```
+
+<!-- tabs:end -->
+
+</details>
+
+<details>
+    <summary>:wrench: <b>用例 5：</b>
+        调用服务
+    </summary>
+
+<!-- tabs:start -->
+
+#### **ROS1(C++)**
+
+`call()` 函数只能接受左值
+
+```cpp
+# 步骤一：实例化请求
+请求类 srv;
+# 步骤二：触发请求
+if (client.call(srv)) {
+	ROS_INFO("Sum: %ld", (long int)srv.response.sum);
+}
+else {
+	ROS_ERROR("Failed to call service add_two_ints");
+	return 1;
+}
+```
+
+#### **ROS2(C++)**
+
+C++中`ROS1`的服务是同步的，而`ROS2`的则为异步
+
+```cpp
+# 步骤一：实例化请求
+auto request = std::make_shared<包名::srv::服务类型::Request>();
+// TODO
+# 步骤二：异步触发请求
+client->async_send_request(request);
+auto result = client->async_send_request(request);
+
+// Wait for the result.
+if (rclcpp::spin_until_future_complete(node, result) ==
+    rclcpp::FutureReturnCode::SUCCESS){  
+    RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "...");
+} else {
+    RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Failed to call service [服务名]");
+}
+```
+
+#### **ROS1(Python)**
+
+TODO
+
+#### **ROS2(Python)**
+
+TODO
+
+<!-- tabs:end -->
+
+</details>
+
 ## Action
 
 TODO
@@ -281,3 +522,8 @@ rosidl_generator_traits::data_type<am_rviz_plugins_msgs::OverlayMenu>
 - [Autoware.Universe name guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/message-guidelines/)
 - [Autowarw adapting-message-definitions](https://github.com/tier4/AutowareArchitectureProposal.proj/blob/main/docs/developer_guide/knowhow/PortingToROS2.md#adapting-message-definitions)
 
+## Service
+
+- Official C++ demo：[ROS1](http://wiki.ros.org/ROS/Tutorials/WritingServiceClient%28c%2B%2B%29), [ROS2](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html)
+- Official Python demo：[ROS1](http://wiki.ros.org/rospy/Overview/Services), [ROS2](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Service-And-Client.html)
+- [Services between ROS1 and ROS2](https://roboticsbackend.com/ros1-vs-ros2-practical-overview/)
diff --git a/docs/Beginner/Paramter Server.md → docs/Beginner/Parameter Server.md b/docs/Beginner/Paramter Server.md → docs/Beginner/Parameter Server.md
diff --git a/docs/Beginner/Publisher and Subscriber.md b/docs/Beginner/Publisher and Subscriber.md
@@ -277,7 +277,7 @@ int main(int argc, char** argv)
 
 ## Reference
 
-- Official demo: [ROS1](http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29), [ROS2](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html)
-- Topic statistics: [ROS1](https://wiki.ros.org/Topics#Topic_statistics), [ROS2](https://docs.ros.org/en/humble/Concepts/About-Topic-Statistics.html)
-- Sync demo: [ROS1](http://wiki.ros.org/message_filters)
+- Official demo for [ROS1](http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29) and [ROS2](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html)
+- Topic statistics for [ROS1](https://wiki.ros.org/Topics#Topic_statistics) and [ROS2](https://docs.ros.org/en/humble/Concepts/About-Topic-Statistics.html)
+- Sync demo for [ROS1](http://wiki.ros.org/message_filters)