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feat: add all code

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This commit is contained in:
鱼香ROS
2024-01-28 21:03:42 +08:00
parent 4d12ba5891
commit 682c7d3849
220 changed files with 17024 additions and 0 deletions
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70
chapt10/chapt10_ws/.vscode/settings.json vendored Normal file
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{
"files.associations": {
"array": "cpp",
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"atomic": "cpp",
"bit": "cpp",
"*.tcc": "cpp",
"bitset": "cpp",
"chrono": "cpp",
"compare": "cpp",
"complex": "cpp",
"concepts": "cpp",
"condition_variable": "cpp",
"cstdint": "cpp",
"deque": "cpp",
"forward_list": "cpp",
"list": "cpp",
"map": "cpp",
"set": "cpp",
"string": "cpp",
"unordered_map": "cpp",
"unordered_set": "cpp",
"vector": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"functional": "cpp",
"iterator": "cpp",
"memory": "cpp",
"memory_resource": "cpp",
"numeric": "cpp",
"optional": "cpp",
"random": "cpp",
"ratio": "cpp",
"string_view": "cpp",
"system_error": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp",
"fstream": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"limits": "cpp",
"mutex": "cpp",
"new": "cpp",
"numbers": "cpp",
"ostream": "cpp",
"semaphore": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"stop_token": "cpp",
"streambuf": "cpp",
"thread": "cpp",
"cinttypes": "cpp",
"typeindex": "cpp",
"typeinfo": "cpp"
}
}

2729
chapt10/chapt10_ws/pub5_sub5_2M.txt Normal file
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chapt10/chapt10_ws/shm.xml Normal file
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<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<data_writer profile_name="default publisher profile" is_default_profile="true">
<qos>
<publishMode>
<kind>SYNCHRONOUS</kind>
</publishMode>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</data_writer>
<data_reader profile_name="default subscription profile" is_default_profile="true">
<qos>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</data_reader>
</profiles>

56
chapt10/chapt10_ws/src/learn_compose/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(learn_compose)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rclcpp_components REQUIRED)
include_directories(include)
add_executable(intra_process_pubsub
src/intra_process_pubsub.cpp
src/talker.cpp
src/listener.cpp
)
ament_target_dependencies(intra_process_pubsub std_msgs rclcpp rclcpp_components)
install(TARGETS intra_process_pubsub
DESTINATION lib/${PROJECT_NAME})
find_package(rclcpp_components REQUIRED)
add_library(talker_component SHARED src/talker.cpp)
ament_target_dependencies(talker_component "std_msgs" "rclcpp" "rclcpp_components")
rclcpp_components_register_nodes(talker_component "learn_compose::Talker")
add_library(listener_component SHARED src/listener.cpp)
ament_target_dependencies(listener_component "std_msgs" "rclcpp" "rclcpp_components")
rclcpp_components_register_nodes(listener_component "learn_compose::Listener")
install(TARGETS talker_component listener_component
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ament_package()

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chapt10/chapt10_ws/src/learn_compose/include/learn_compose/listener.hpp Normal file
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#ifndef LEARN_COMPOSE__LISTENER_COMPONENT_HPP_
#define LEARN_COMPOSE__LISTENER_COMPONENT_HPP_
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/int32.hpp"
namespace learn_compose {
class Listener : public rclcpp::Node {
public:
explicit Listener(const rclcpp::NodeOptions &options);
private:
rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub_;
};
} // namespace learn_compose
#endif // LEARN_COMPOSE__LISTENER_COMPONENT_HPP_

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chapt10/chapt10_ws/src/learn_compose/include/learn_compose/talker.hpp Normal file
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#ifndef LEARN_COMPOSE__TALKER_COMPONENT_HPP_
#define LEARN_COMPOSE__TALKER_COMPONENT_HPP_
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/int32.hpp"
namespace learn_compose {
class Talker : public rclcpp::Node {
public:
explicit Talker(const rclcpp::NodeOptions &options);
private:
int32_t count_;
rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub_;
rclcpp::TimerBase::SharedPtr timer_;
};
} // namespace learn_compose
#endif // LEARN_COMPOSE__TALKER_COMPONENT_HPP_

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chapt10/chapt10_ws/src/learn_compose/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_compose</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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chapt10/chapt10_ws/src/learn_compose/src/intra_process_pubsub.cpp Normal file
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#include "learn_compose/listener.hpp"
#include "learn_compose/talker.hpp"
#include "rclcpp/rclcpp.hpp"
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
rclcpp::executors::SingleThreadedExecutor executor;
rclcpp::NodeOptions options; // 创建节点选项
options.use_intra_process_comms(true); // 使用进程内通信
auto talker = std::make_shared<learn_compose::Talker>(options);
auto listener = std::make_shared<learn_compose::Listener>(options);
executor.add_node(talker);
executor.add_node(listener);
executor.spin();
rclcpp::shutdown();
return 0;
}

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chapt10/chapt10_ws/src/learn_compose/src/listener.cpp Normal file
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#include "learn_compose/listener.hpp"
#include <chrono>
namespace learn_compose {
using namespace std::chrono_literals;
Listener::Listener(const rclcpp::NodeOptions &options)
: Node("listener", options) {
sub_ = this->create_subscription<std_msgs::msg::Int32>(
"count", 10, [&](const std_msgs::msg::Int32::UniquePtr msg) {
RCLCPP_INFO(this->get_logger(), "收到数据:%d(0x%lX)", msg->data,
reinterpret_cast<std::uintptr_t>(msg.get()));
});
}
} // namespace learn_compose
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(learn_compose::Listener)

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chapt10/chapt10_ws/src/learn_compose/src/talker.cpp Normal file
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#include <chrono>
#include "learn_compose/talker.hpp"
namespace learn_compose {
using namespace std::chrono_literals;
Talker::Talker(const rclcpp::NodeOptions &options) : Node("talker", options) {
pub_ = this->create_publisher<std_msgs::msg::Int32>("count", 10);
auto callback = [&]() -> void {
std_msgs::msg::Int32::UniquePtr msg(new std_msgs::msg::Int32());
msg->data = count_++;
RCLCPP_INFO(this->get_logger(), "发布数据:%d(0x%lX)", msg->data,
reinterpret_cast<std::uintptr_t>(msg.get()));
pub_->publish(std::move(msg));
};
timer_ = this->create_wall_timer(1s, callback);
}
} // namespace learn_compose
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(learn_compose::Talker)

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chapt10/chapt10_ws/src/learn_dds_cpp/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(learn_dds_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
add_executable(shm_pub src/shm_pub.cpp)
ament_target_dependencies(shm_pub
rclcpp std_msgs
)
install(TARGETS shm_pub
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

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chapt10/chapt10_ws/src/learn_dds_cpp/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_dds_cpp</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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chapt10/chapt10_ws/src/learn_dds_cpp/src/shm_pub.cpp Normal file
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#include "rclcpp/loaned_message.hpp"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/int32.hpp"
class LoanedMessagePublisher : public rclcpp::Node {
public:
LoanedMessagePublisher() : Node("loaned_message_publisher") {
publisher_ =
this->create_publisher<std_msgs::msg::Int32>("loaned_int_topic", 10);
timer_ = this->create_wall_timer(std::chrono::seconds(1), [&]() {
auto message = publisher_->borrow_loaned_message(); // 1.租借消息
message.get().data = count_++; // 2.放入数据
RCLCPP_INFO(this->get_logger(), "发布数据:%d", message.get().data);
publisher_->publish(std::move(message)); // 3.发布数据
});
}
private:
rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
int32_t count_{0};
};
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<LoanedMessagePublisher>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

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chapt10/chapt10_ws/src/learn_executor_cpp/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(learn_executor_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
find_package(rclcpp REQUIRED)
find_package(example_interfaces REQUIRED)
find_package(std_msgs REQUIRED)
add_executable(learn_executor src/learn_executor.cpp)
ament_target_dependencies(learn_executor rclcpp example_interfaces std_msgs)
install(TARGETS learn_executor
DESTINATION lib/${PROJECT_NAME})
ament_package()

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chapt10/chapt10_ws/src/learn_executor_cpp/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_executor_cpp</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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chapt10/chapt10_ws/src/learn_executor_cpp/src/learn_executor.cpp Normal file
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#include "example_interfaces/srv/add_two_ints.hpp"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include <sstream>
class LearnExecutorNode : public rclcpp::Node {
public:
LearnExecutorNode() : Node("learn_executor") {
publisher_ =
this->create_publisher<std_msgs::msg::String>("string_topic", 10);
timer_ = this->create_wall_timer(
std::chrono::seconds(1),
std::bind(&LearnExecutorNode::timer_callback, this));
service_callback_group_ = this->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive); // 互斥回调组
service_ = this->create_service<example_interfaces::srv::AddTwoInts>(
"add_two_ints",
std::bind(&LearnExecutorNode::add_two_ints_callback, this,
std::placeholders::_1, std::placeholders::_2),
rmw_qos_profile_services_default, service_callback_group_);
}
private:
void timer_callback() {
auto msg = std_msgs::msg::String();
msg.data = "话题发布：" + thread_info();
RCLCPP_INFO(this->get_logger(), msg.data.c_str());
publisher_->publish(msg);
}
std::string thread_info() {
std::ostringstream thread_str;
thread_str << "线程ID：" << std::this_thread::get_id();
return thread_str.str();
}
void add_two_ints_callback(
const std::shared_ptr<example_interfaces::srv::AddTwoInts::Request>
request,
std::shared_ptr<example_interfaces::srv::AddTwoInts::Response> response) {
RCLCPP_INFO(this->get_logger(), "服务开始处理：%s", thread_info().c_str());
std::this_thread::sleep_for(std::chrono::seconds(10));
response->sum = request->a + request->b;
RCLCPP_INFO(this->get_logger(), "服务处理完成：%s", thread_info().c_str());
}
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr service_;
rclcpp::CallbackGroup::SharedPtr service_callback_group_;
};
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
auto node = std::make_shared<LearnExecutorNode>();
// auto executor = rclcpp::executors::SingleThreadedExecutor();
auto executor = rclcpp::executors::MultiThreadedExecutor();
executor.add_node(node);
executor.spin();
rclcpp::shutdown();
return 0;
}

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chapt10/chapt10_ws/src/learn_executor_py/learn_executor_py/__init__.py Normal file
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chapt10/chapt10_ws/src/learn_executor_py/learn_executor_py/learn_executor.py Normal file
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import rclpy
from rclpy.node import Node
from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor
from rclpy.callback_groups import MutuallyExclusiveCallbackGroup, ReentrantCallbackGroup
from std_msgs.msg import String
from example_interfaces.srv import AddTwoInts
import threading
import time
class LearnExecutorNode(Node):
def __init__(self):
super().__init__('learn_executor')
self.publisher = self.create_publisher(String, 'string_topic', 10)
self.timer = self.create_timer(1.0, self.timer_callback)
my_callback_group = ReentrantCallbackGroup()
self.service = self.create_service(
AddTwoInts, 'add_two_ints', self.add_two_ints_callback,
callback_group=my_callback_group)
# self.service = self.create_service(
# AddTwoInts, 'add_two_ints', self.add_two_ints_callback)
def timer_callback(self):
msg = String()
msg.data = f'话题发布，线程ID:{threading.get_ident()} 线程总数:{threading.active_count()}'
self.get_logger().info(msg.data)
self.publisher.publish(msg)
def add_two_ints_callback(self, request: AddTwoInts.Request, response: AddTwoInts.Response):
self.get_logger().info(f'处理服务，线程ID:{threading.get_ident()}')
time.sleep(10) # 模拟处理延时
response.sum = request.a + request.b
self.get_logger().info(f'处理完成，线程ID:{threading.get_ident()}')
return response
def main(args=None):
rclpy.init(args=args)
node = LearnExecutorNode()
# executor = SingleThreadedExecutor()
executor = MultiThreadedExecutor()
executor.add_node(node)
executor.spin()
rclpy.shutdown()

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chapt10/chapt10_ws/src/learn_executor_py/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_executor_py</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

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chapt10/chapt10_ws/src/learn_executor_py/resource/learn_executor_py Normal file
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chapt10/chapt10_ws/src/learn_executor_py/setup.cfg Normal file
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[develop]
script_dir=$base/lib/learn_executor_py
[install]
install_scripts=$base/lib/learn_executor_py

26
chapt10/chapt10_ws/src/learn_executor_py/setup.py Normal file
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from setuptools import find_packages, setup
package_name = 'learn_executor_py'
setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='fishros',
maintainer_email='87068644+fishros@users.noreply.github.com',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'learn_executor=learn_executor_py.learn_executor:main'
],
},
)

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chapt10/chapt10_ws/src/learn_executor_py/test/test_copyright.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

25
chapt10/chapt10_ws/src/learn_executor_py/test/test_flake8.py Normal file
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# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

33
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cmake_minimum_required(VERSION 3.8)
project(learn_lifecyclenode_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
add_executable(learn_lifecyclenode src/learn_lifecyclenode.cpp)
ament_target_dependencies(learn_lifecyclenode
rclcpp rclcpp_lifecycle
)
install(TARGETS learn_lifecyclenode
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_lifecyclenode_cpp</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

61
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#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
using CallbackReturn =
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
class LearnLifeCycleNode : public rclcpp_lifecycle::LifecycleNode {
public:
LearnLifeCycleNode()
: rclcpp_lifecycle::LifecycleNode("lifecyclenode") {
timer_period_ = 1.0;
timer_ = nullptr;
RCLCPP_INFO(get_logger(), "%s: 已创建", get_name());
}
CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override {
(void)state;
timer_period_ = 1.0;
RCLCPP_INFO(get_logger(), "on_configure():配置周期 timer_period");
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
CallbackReturn::SUCCESS;
}
CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override {
(void)state;
timer_ = create_wall_timer(
std::chrono::seconds(static_cast<int>(timer_period_)),
[this]() { RCLCPP_INFO(get_logger(), "定时器打印进行中..."); });
RCLCPP_INFO(get_logger(), "on_activate():处理激活指令，创建定时器");
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
CallbackReturn::SUCCESS;
}
CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override {
(void)state;
timer_.reset();
RCLCPP_INFO(get_logger(), "on_deactivate():处理失活指令，停止定时器");
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
CallbackReturn::SUCCESS;
}
CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state) override {
(void)state;
timer_.reset();
RCLCPP_INFO(get_logger(), "on_shutdown():处理关闭指令");
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
CallbackReturn::SUCCESS;
}
private:
rclcpp::TimerBase::SharedPtr timer_;
double timer_period_;
};
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<LearnLifeCycleNode>();
rclcpp::spin(node->get_node_base_interface());
rclcpp::shutdown();
return 0;
}

0
chapt10/chapt10_ws/src/learn_lifecyclenode_py/learn_lifecyclenode_py/__init__.py Normal file
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49
chapt10/chapt10_ws/src/learn_lifecyclenode_py/learn_lifecyclenode_py/learn_lifecyclenode.py Normal file
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import rclpy
from rclpy.lifecycle import LifecycleNode, TransitionCallbackReturn
class LearnLifeCycleNode(LifecycleNode):
def __init__(self):
super().__init__('lifecyclenode')
self.timer_period = 0
self.timer_ = None
self.get_logger().info(f'{self.get_name()}:已创建')
def timer_callback(self):
self.get_logger().info('定时器打印进行中...')
def on_configure(self, state):
self.timer_period = 1.0 # 设置定时器周期
self.get_logger().info('on_configure():配置周期 timer_period')
return TransitionCallbackReturn.SUCCESS
def on_activate(self, state):
self.timer_ = self.create_timer(self.timer_period, self.timer_callback)
self.get_logger().info('on_activate():处理激活指令，创建定时器')
return TransitionCallbackReturn.SUCCESS
def on_deactivate(self, state):
self.destroy_timer(self.timer_) # 销毁定时器
self.get_logger().info('on_deactivate():处理失活指令停止定时器')
return TransitionCallbackReturn.SUCCESS
def on_cleanup(self, state):
self.timer_ = None
self.timer_period = 0
self.get_logger().info('on_cleanup():处理清理指令')
return TransitionCallbackReturn.SUCCESS
def on_shutdown(self, state):
# 定时器未销毁则销毁
if self.timer_: self.destroy_timer(self.timer_)
self.get_logger().info('on_shutdown():处理关闭指令')
return TransitionCallbackReturn.SUCCESS
def on_error(self, state):
# 直接调用父类处理
return super().on_error(state)
def main():
rclpy.init()
node = LearnLifeCycleNode()
rclpy.spin(node)
rclpy.shutdown()

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chapt10/chapt10_ws/src/learn_lifecyclenode_py/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_lifecyclenode_py</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

0
chapt10/chapt10_ws/src/learn_lifecyclenode_py/resource/learn_lifecyclenode_py Normal file
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4
chapt10/chapt10_ws/src/learn_lifecyclenode_py/setup.cfg Normal file
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[develop]
script_dir=$base/lib/learn_lifecyclenode_py
[install]
install_scripts=$base/lib/learn_lifecyclenode_py

26
chapt10/chapt10_ws/src/learn_lifecyclenode_py/setup.py Normal file
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from setuptools import find_packages, setup
package_name = 'learn_lifecyclenode_py'
setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='fishros',
maintainer_email='87068644+fishros@users.noreply.github.com',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'learn_lifecyclenode=learn_lifecyclenode_py.learn_lifecyclenode:main'
],
},
)

25
chapt10/chapt10_ws/src/learn_lifecyclenode_py/test/test_copyright.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

25
chapt10/chapt10_ws/src/learn_lifecyclenode_py/test/test_flake8.py Normal file
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# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

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chapt10/chapt10_ws/src/learn_lifecyclenode_py/test/test_pep257.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

35
chapt10/chapt10_ws/src/learn_message_filter_cpp/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(learn_message_filter_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(message_filters REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
add_executable(timesync_test src/timesync_test.cpp)
ament_target_dependencies(timesync_test
rclcpp message_filters nav_msgs sensor_msgs
)
install(TARGETS timesync_test
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

23
chapt10/chapt10_ws/src/learn_message_filter_cpp/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_message_filter_cpp</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>message_filters</depend>
<depend>nav_msgs</depend>
<depend>sensor_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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chapt10/chapt10_ws/src/learn_message_filter_cpp/src/timesync_test.cpp Normal file
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#include "message_filters/subscriber.h"
#include "message_filters/sync_policies/approximate_time.h"
#include "message_filters/sync_policies/exact_time.h"
#include "message_filters/sync_policies/latest_time.h"
#include "message_filters/time_synchronizer.h"
#include "nav_msgs/msg/odometry.hpp"
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/imu.hpp"
using Imu = sensor_msgs::msg::Imu;
using Odometry = nav_msgs::msg::Odometry;
using namespace message_filters;
// 同步策略：严格时间对齐策略
// using MySyncPolicy = sync_policies::ExactTime<Imu, Odometry>;
// 同步策略：大约时间对齐策略
// using MySyncPolicy = sync_policies::ApproximateTime<Imu, Odometry>;
// 同步策略：最新时间对齐策略
using MySyncPolicy = sync_policies::LatestTime<Imu, Odometry>;
class TimeSyncTestNode : public rclcpp::Node {
public:
TimeSyncTestNode() : Node("sync_node") {
// 1.订阅 imu 话题并注册回调并打印时间戳
imu_sub_ = std::make_shared<Subscriber<Imu>>(this, "imu");
imu_sub_->registerCallback<Imu::SharedPtr>(
[&](const Imu::SharedPtr &imu_msg) {
RCLCPP_INFO(get_logger(), "imu(%u,%u)", imu_msg->header.stamp.sec,
imu_msg->header.stamp.nanosec);
});
// 2.订阅 odom 话题并注册回调函数打印时间戳
odom_sub_ = std::make_shared<Subscriber<Odometry>>(this, "odom");
odom_sub_->registerCallback<Odometry::SharedPtr>(
[&](const Odometry::SharedPtr &odom_msg) {
RCLCPP_INFO(get_logger(), "odom(%u,%u)", odom_msg->header.stamp.sec,
odom_msg->header.stamp.nanosec);
});
// 3.创建对应策略的同步器同步两个话题，并注册回调函数打印数据
// synchronizer_ = std::make_shared<Synchronizer<MySyncPolicy>>(
// MySyncPolicy(10), *imu_sub_, *odom_sub_);
// 3.创建对应策略的同步器同步两个话题，并注册回调函数打印数据
synchronizer_ = std::make_shared<Synchronizer<MySyncPolicy>>(
MySyncPolicy(), *imu_sub_, *odom_sub_);
synchronizer_->registerCallback(
std::bind(&TimeSyncTestNode::result_callback, this,
std::placeholders::_1, std::placeholders::_2));
}
private:
void result_callback(const Imu::ConstSharedPtr imu_msg,
const Odometry::ConstSharedPtr odom_msg) {
RCLCPP_INFO(get_logger(), "imu(%u,%u),odom(%u,%u))",
imu_msg->header.stamp.sec, imu_msg->header.stamp.nanosec,
odom_msg->header.stamp.sec, odom_msg->header.stamp.nanosec);
}
std::shared_ptr<Subscriber<Imu>> imu_sub_;
std::shared_ptr<Subscriber<Odometry>> odom_sub_;
std::shared_ptr<Synchronizer<MySyncPolicy>> synchronizer_;
};
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<TimeSyncTestNode>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

0
chapt10/chapt10_ws/src/learn_message_filter_py/learn_message_filter_py/__init__.py Normal file
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40
chapt10/chapt10_ws/src/learn_message_filter_py/learn_message_filter_py/timesync_test.py Normal file
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import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Imu
from nav_msgs.msg import Odometry
from message_filters import Subscriber, ApproximateTimeSynchronizer
class TimeSyncTestNode(Node):
def __init__(self):
super().__init__('sync_node')
# 1. 订阅 imu 话题并注册回调并打印时间戳
self.imu_sub = Subscriber(self, Imu, 'imu')
self.imu_sub.registerCallback(self.imu_callback)
# 2. 订阅 odom 话题并注册回调函数打印时间戳
self.odom_sub = Subscriber(self, Odometry, 'odom')
self.odom_sub.registerCallback(self.odom_callback)
# 3. 创建对应策略的同步器同步两个话题，并注册回调函数打印数据
self.synchronizer = ApproximateTimeSynchronizer(
[self.imu_sub, self.odom_sub], 10,
slop=0.01, # slop 表示时间窗口单位为秒
)
self.synchronizer.registerCallback(self.result_callback)
def imu_callback(self, imu_msg):
self.get_logger().info(
f'imu({imu_msg.header.stamp.sec},{imu_msg.header.stamp.nanosec})')
def odom_callback(self, odom_msg):
self.get_logger().info(
f'odom({odom_msg.header.stamp.sec},{odom_msg.header.stamp.nanosec})')
def result_callback(self, imu_msg, odom_msg):
self.get_logger().info(
f'imu({imu_msg.header.stamp.sec},{imu_msg.header.stamp.nanosec}),odom({odom_msg.header.stamp.sec},{odom_msg.header.stamp.nanosec})')
def main(args=None):
rclpy.init(args=args)
node = TimeSyncTestNode()
rclpy.spin(node)
rclpy.shutdown()

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chapt10/chapt10_ws/src/learn_message_filter_py/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_message_filter_py</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

0
chapt10/chapt10_ws/src/learn_message_filter_py/resource/learn_message_filter_py Normal file
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4
chapt10/chapt10_ws/src/learn_message_filter_py/setup.cfg Normal file
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[develop]
script_dir=$base/lib/learn_message_filter_py
[install]
install_scripts=$base/lib/learn_message_filter_py

26
chapt10/chapt10_ws/src/learn_message_filter_py/setup.py Normal file
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from setuptools import find_packages, setup
package_name = 'learn_message_filter_py'
setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='fishros',
maintainer_email='87068644+fishros@users.noreply.github.com',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'timesync_test=learn_message_filter_py.timesync_test:main'
],
},
)

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chapt10/chapt10_ws/src/learn_message_filter_py/test/test_copyright.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

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chapt10/chapt10_ws/src/learn_message_filter_py/test/test_flake8.py Normal file
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# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

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chapt10/chapt10_ws/src/learn_message_filter_py/test/test_pep257.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

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cmake_minimum_required(VERSION 3.8)
project(learn_qos_cpp)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
find_package(rclcpp REQUIRED)
find_package(nav_msgs REQUIRED)
add_executable(reliability_test src/reliability_test.cpp)
ament_target_dependencies(reliability_test
rclcpp nav_msgs
)
install(TARGETS reliability_test
DESTINATION lib/${PROJECT_NAME})
ament_package()

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_qos_cpp</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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chapt10/chapt10_ws/src/learn_qos_cpp/src/reliability_test.cpp Normal file
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#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>
class OdomPublisherSubscriber : public rclcpp::Node
{
public:
OdomPublisherSubscriber() : Node("odom_publisher_subscriber")
{
rclcpp::QoS qos_profile(10); // 队列深度为10
qos_profile.reliability(RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT); // 可靠性策略
qos_profile.durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL); // 持久性策略
qos_profile.history(RMW_QOS_POLICY_HISTORY_KEEP_LAST); // 历史记录策略
qos_profile.deadline(rclcpp::Duration(1, 0)); // 截止时间为1秒
odom_publisher_ = this->create_publisher<nav_msgs::msg::Odometry>(
"odom", qos_profile);
// // 创建发布者并设置QoS为sensor
// odom_publisher_ = this->create_publisher<nav_msgs::msg::Odometry>(
// "odom", rclcpp::SensorDataQoS());
// 创建订阅者（默认QoS配置）队列深度设置为 5
// odom_subscription_ = this->create_subscription<nav_msgs::msg::Odometry>(
// "odom", 5,
// [this](const nav_msgs::msg::Odometry::SharedPtr msg) {
// (void)msg;
// RCLCPP_INFO(this->get_logger(), "收到里程计消息");
// });
odom_subscription_ = this->create_subscription<nav_msgs::msg::Odometry>(
"odom", rclcpp::SensorDataQoS(),
[this](const nav_msgs::msg::Odometry::SharedPtr msg)
{
(void)msg;
RCLCPP_INFO(this->get_logger(), "收到里程计消息");
});
// 创建一个1秒的定时器，并指定回调函数
timer_ = this->create_wall_timer(std::chrono::seconds(1), [this]()
{ odom_publisher_->publish(nav_msgs::msg::Odometry()); });
}
private:
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_publisher_;
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscription_;
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char *argv[])
{
rclcpp::init(argc, argv);
auto odom_node = std::make_shared<OdomPublisherSubscriber>();
rclcpp::spin(odom_node);
rclcpp::shutdown();
return 0;
}

0
chapt10/chapt10_ws/src/learn_qos_py/learn_qos_py/__init__.py Normal file
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41
chapt10/chapt10_ws/src/learn_qos_py/learn_qos_py/reliability_test.py Normal file
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import rclpy
from rclpy.node import Node
from nav_msgs.msg import Odometry
from rclpy import qos
from rclpy.duration import Duration
class OdomPublisherSubscriber(Node):
def __init__(self):
super().__init__('odom_publisher_subscriber')
# 创建发布者并设置QoS为sensor
qos_profile = qos.QoSProfile(
depth=10, # 队列深度
reliability=qos.ReliabilityPolicy.BEST_EFFORT, # 可靠性
durability=qos.DurabilityPolicy.TRANSIENT_LOCAL, # 持久性
history=qos.HistoryPolicy.KEEP_LAST, # 历史记录策略
deadline=Duration(seconds=1.0, nanoseconds=0),
)
# 在订阅和发布中使用
self.odom_publisher = self.create_publisher(Odometry, 'odom', qos_profile)
# 创建订阅者（默认QoS配置）队列深度设置为 5
self.odom_subscriber = self.create_subscription(
Odometry, 'odom', self.odom_callback,qos.qos_profile_sensor_data)
# 创建一个1秒的定时器，并指定回调函数
self.timer = self.create_timer(1.0, self.timer_callback)
def odom_callback(self, msg):
self.get_logger().info('收到里程计消息')
def timer_callback(self):
odom_msg = Odometry() # 创建一个Odometry消息
self.odom_publisher.publish(odom_msg) # 发布消息
def main(args=None):
rclpy.init(args=args)
odom_node = OdomPublisherSubscriber()
rclpy.spin(odom_node)
rclpy.shutdown()

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chapt10/chapt10_ws/src/learn_qos_py/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>learn_qos_py</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
<license>TODO: License declaration</license>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

0
chapt10/chapt10_ws/src/learn_qos_py/resource/learn_qos_py Normal file
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4
chapt10/chapt10_ws/src/learn_qos_py/setup.cfg Normal file
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[develop]
script_dir=$base/lib/learn_qos_py
[install]
install_scripts=$base/lib/learn_qos_py

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chapt10/chapt10_ws/src/learn_qos_py/setup.py Normal file
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from setuptools import find_packages, setup
package_name = 'learn_qos_py'
setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='fishros',
maintainer_email='87068644+fishros@users.noreply.github.com',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'reliability_test=learn_qos_py.reliability_test:main'
],
},
)

25
chapt10/chapt10_ws/src/learn_qos_py/test/test_copyright.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

25
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# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

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chapt10/chapt10_ws/src/learn_qos_py/test/test_pep257.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'

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chapt10/chapt10_ws/topic_sub_limit.xml Normal file
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<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<!-- 默认发布者配置 -->
<publisher profile_name="default_publisher" is_default_profile="true">
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</publisher>
<!-- 默认订阅者配置 -->
<subscriber profile_name="default_subscriber" is_default_profile="true">
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
</subscriber>
<!-- 话题 chatter 的发布者配置 -->
<publisher profile_name="/chatter">
<historyMemoryPolicy>DYNAMIC</historyMemoryPolicy>
<matchedSubscribersAllocation>
<initial>0</initial>
<maximum>1</maximum>
<increment>1</increment>
</matchedSubscribersAllocation>
</publisher>
</profiles>

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rosbag2_bagfile_information:
version: 5
storage_identifier: sqlite3
duration:
nanoseconds: 221085265896
starting_time:
nanoseconds_since_epoch: 1697985428618130944
message_count: 33156
topics_with_message_count:
- topic_metadata:
name: /imu
type: sensor_msgs/msg/Imu
serialization_format: cdr
offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
message_count: 22104
- topic_metadata:
name: /odom
type: nav_msgs/msg/Odometry
serialization_format: cdr
offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
message_count: 11052
compression_format: ""
compression_mode: ""
relative_file_paths:
- rosbag2_message_filter.db3
files:
- path: rosbag2_message_filter.db3
starting_time:
nanoseconds_since_epoch: 1697985428618130944
duration:
nanoseconds: 221085265896
message_count: 33156

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