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feat: chapt6

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Mzebra
2023-12-14 22:37:46 +08:00
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31
chapt4/chapt4_ws/src/chapt4_interfaces/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(chapt4_interfaces)
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(rosidl_default_generators REQUIRED)
find_package(sensor_msgs REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"srv/FaceDetector.srv"
"srv/Patrol.srv"
DEPENDENCIES sensor_msgs
)
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()

202
chapt4/chapt4_ws/src/chapt4_interfaces/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
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.

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chapt4/chapt4_ws/src/chapt4_interfaces/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>chapt4_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="mzebra@foxmail.com">mzebra</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rosidl_default_generators</depend>
<depend>sensor_msgs</depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

8
chapt4/chapt4_ws/src/chapt4_interfaces/srv/FaceDetector.srv Normal file
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sensor_msgs/Image image # 原始图像
---
int16 number # 人脸个数
float32 use_time # 识别耗时
int32[] top # 人脸在图像中位置
int32[] right
int32[] bottom
int32[] left

6
chapt4/chapt4_ws/src/chapt4_interfaces/srv/Patrol.srv Normal file
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float32 target_x # 目标x值
float32 target_y # 目标y值
---
int8 SUCCESS = 1 # 定义常量，表示成功
int8 FAIL = 0 # 定义常量，表示失败
int8 result # 处理结果

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chapt4/chapt4_ws/src/demo_cpp_service/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(demo_cpp_service)
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(chapt4_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(turtlesim REQUIRED)
add_executable(turtle_control src/turtle_control.cpp)
ament_target_dependencies(turtle_control rclcpp geometry_msgs turtlesim chapt4_interfaces)
add_executable(patrol_client src/patrol_client.cpp)
ament_target_dependencies(patrol_client rclcpp geometry_msgs turtlesim chapt4_interfaces)
install(TARGETS
turtle_control
patrol_client
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY launch
DESTINATION share/${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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chapt4/chapt4_ws/src/demo_cpp_service/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
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.

32
chapt4/chapt4_ws/src/demo_cpp_service/launch/demo.launch.py Normal file
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import launch
import launch_ros
def generate_launch_description():
action_declare_arg_max_spped = launch.actions.DeclareLaunchArgument('launch_max_speed', default_value='2.0')
action_node_turtle_control = launch_ros.actions.Node(
package='demo_cpp_service',
executable="turtle_control",
output='screen',
parameters=[{'max_speed': launch.substitutions.LaunchConfiguration(
'launch_max_speed', default='2.0')}],
)
action_node_patrol_client = launch_ros.actions.Node(
package='demo_cpp_service',
executable="patrol_client",
output='log',
)
action_node_turtlesim_node = launch_ros.actions.Node(
package='turtlesim',
executable='turtlesim_node',
output='both',
)
# 合成启动描述并返回
launch_description = launch.LaunchDescription([
action_declare_arg_max_spped,
action_node_turtle_control,
action_node_patrol_client,
action_node_turtlesim_node
])
return launch_description

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chapt4/chapt4_ws/src/demo_cpp_service/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>demo_cpp_service</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="mzebra@foxmail.com">mzebra</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>chapt4_interfaces</depend>
<depend>rclcpp</depend>
<depend>geometry_msgs</depend>
<depend>turtlesim</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

132
chapt4/chapt4_ws/src/demo_cpp_service/src/patrol_client.cpp Normal file
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#include <chrono>
#include <cstdlib>
#include <ctime>
#include "rclcpp/rclcpp.hpp"
#include "chapt4_interfaces/srv/patrol.hpp"
#include <chrono> // 引入时间相关头文件
#include "rcl_interfaces/msg/parameter.hpp"
#include "rcl_interfaces/msg/parameter_value.hpp"
#include "rcl_interfaces/msg/parameter_type.hpp"
#include "rcl_interfaces/srv/set_parameters.hpp"
// 使用时间单位的字面量，可以在代码中使用 s 和 ms 表示时间
using namespace std::chrono_literals;
using Patrol = chapt4_interfaces::srv::Patrol;
using SetP = rcl_interfaces::srv::SetParameters;
class PatrolClient : public rclcpp::Node
{
public:
PatrolClient() : Node("patrol_client")
{
patrol_client_ = this->create_client<Patrol>("patrol");
timer_ = this->create_wall_timer(10s, std::bind(&PatrolClient::timer_callback, this));
srand(time(NULL)); // 初始化随机数种子，使用当前时间作为种子
}
void update_server_param_k(double k)
{
// 1.创建一个参数对象
auto param = rcl_interfaces::msg::Parameter();
param.name = "k";
// 2.创建参数值对象并赋值
auto param_value = rcl_interfaces::msg::ParameterValue();
param_value.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
param_value.double_value = k;
param.value = param_value;
// 3.请求更新参数并处理
auto response = call_set_parameters(param);
if (response == nullptr)
{
RCLCPP_WARN(this->get_logger(), "参数修改失败");
return;
}
else
{
for (auto result : response->results)
{
if (result.successful)
{
RCLCPP_INFO(this->get_logger(), "参数k 已修改为：%f", k);
}
else
{
RCLCPP_WARN(this->get_logger(), "参数k 失败原因：%s", result.reason.c_str());
}
}
}
}
std::shared_ptr<SetP::Response> call_set_parameters(
rcl_interfaces::msg::Parameter &parameter)
{
// 1. 创建客户端等待服务上线
auto param_client = this->create_client<SetP>(
"/turtle_controller/set_parameters");
while (!param_client->wait_for_service(std::chrono::seconds(1)))
{
if (!rclcpp::ok())
{
RCLCPP_ERROR(this->get_logger(), "等待服务的过程中被打断...");
return nullptr;
}
RCLCPP_INFO(this->get_logger(), "等待参数设置服务端上线中");
}
// 2. 创建请求对象
auto request =
std::make_shared<SetP::Request>();
request->parameters.push_back(parameter);
// 3. 异步调用、等待并返回响应结果
auto future = param_client->async_send_request(request);
rclcpp::spin_until_future_complete(this->get_node_base_interface(), future);
auto response = future.get();
return response;
}
void timer_callback()
{
// 1.等待服务端上线
while (!patrol_client_->wait_for_service(1s))
{
// 等待时检测rclcpp的状态
if (!rclcpp::ok())
{
RCLCPP_ERROR(this->get_logger(), "等待服务的过程中被打断...");
return;
}
RCLCPP_INFO(this->get_logger(), "等待服务端上线中");
}
// 2.构造请求的
auto request = std::make_shared<Patrol::Request>();
request->target_x = rand() % 15;
request->target_y = rand() % 15;
RCLCPP_INFO(this->get_logger(), "请求巡逻：(%f,%f)", request->target_x, request->target_y);
// 3.发送异步请求，然后等待返回，返回时调用回调函数
patrol_client_->async_send_request(
request,
[&](rclcpp::Client<Patrol>::SharedFuture result_future) -> void
{
auto response = result_future.get();
if (response->result == Patrol::Response::SUCCESS)
{
RCLCPP_INFO(this->get_logger(), "目标点处理成功");
}
else if (response->result == Patrol::Response::FAIL)
{
RCLCPP_INFO(this->get_logger(), "目标点处理失败");
}
});
}
private:
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Client<Patrol>::SharedPtr patrol_client_;
};
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<PatrolClient>();
node->update_server_param_k(1.5);
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

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#include "geometry_msgs/msg/twist.hpp"
#include "rclcpp/rclcpp.hpp"
#include "turtlesim/msg/pose.hpp"
#include "chapt4_interfaces/srv/patrol.hpp"
using Patrol = chapt4_interfaces::srv::Patrol;
#include "rcl_interfaces/msg/set_parameters_result.hpp"
using SetParametersResult = rcl_interfaces::msg::SetParametersResult;
class TurtleController : public rclcpp::Node
{
public:
TurtleController() : Node("turtle_controller")
{
velocity_publisher_ = this->create_publisher<geometry_msgs::msg::Twist>(
"/turtle1/cmd_vel", 10);
pose_subscription_ = this->create_subscription<turtlesim::msg::Pose>(
"/turtle1/pose", 10,
std::bind(&TurtleController::on_pose_received_, this, std::placeholders::_1));
// 3.创建服务
patrol_server_ = this->create_service<Patrol>(
"patrol",
[&](const std::shared_ptr<Patrol::Request> request,
std::shared_ptr<Patrol::Response> response) -> void {
// 判断巡逻点是否在模拟器边界内
if ((0 < request->target_x && request->target_x < 12.0f)
&& (0 < request->target_y && request->target_y < 12.0f)) {
target_x_ = request->target_x;
target_y_ = request->target_y;
response->result = Patrol::Response::SUCCESS;
}else{
response->result = Patrol::Response::FAIL;
}
});
// 声明和获取参数初始值
this->declare_parameter("k", 1.0);
this->declare_parameter("max_speed", 1.0);
this->get_parameter("k", k_);
this->get_parameter("max_speed", max_speed_);
// 添加参数设置回调
parameters_callback_handle_ = this->add_on_set_parameters_callback(
[&](const std::vector<rclcpp::Parameter> &params)
-> SetParametersResult {
// 遍历参数
for (auto param : params) {
RCLCPP_INFO(this->get_logger(), "更新参数 %s 值为：%f",param.get_name().c_str(), param.as_double());
if (param.get_name() == "k") {
k_ = param.as_double();
} else if (param.get_name() == "max_speed") {
max_speed_ = param.as_double();
}
}
auto result = SetParametersResult();
result.successful = true;
return result;
});
}
private:
void on_pose_received_(const turtlesim::msg::Pose::SharedPtr pose) {
auto message = geometry_msgs::msg::Twist();
// 1.记录当前位置
double current_x = pose->x;
double current_y = pose->y;
RCLCPP_INFO(this->get_logger(), "当前位置:(x=%f,y=%f)", current_x, current_y);
// 2.计算距离目标的距离，与当前海龟朝向的角度差
double distance =
std::sqrt((target_x_ - current_x) * (target_x_ - current_x) +
(target_y_ - current_y) * (target_y_ - current_y));
double angle =
std::atan2(target_y_ - current_y, target_x_ - current_x) - pose->theta;
// 3.控制策略：距离大于0.1继续运动，角度差大于0.2则原地旋转，否则直行
if (distance > 0.1) {
if(fabs(angle)>0.2)
{
message.angular.z = fabs(angle);
}else{
// 通过比例控制器计算输出速度
message.linear.x = k_ * distance;
}
}
// 4.限制最大值并发布消息
if (message.linear.x > max_speed_) {
message.linear.x = max_speed_;
}
velocity_publisher_->publish(message);
}
private:
// 2.添加 Patrol 类型服务共享指针 patrol_server_ 为成员变量
rclcpp::Service<Patrol>::SharedPtr patrol_server_;
rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr pose_subscription_;
rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr velocity_publisher_;
double target_x_{1.0}; // 目标位置X,设置默认值1.0
double target_y_{1.0}; // 目标位置Y,设置默认值1.0
double k_{1.0}; // 比例系数，控制输出=误差*比例系数
double max_speed_{3.0}; // 最大线速度，设置默认值3.0
OnSetParametersCallbackHandle::SharedPtr parameters_callback_handle_;
};
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<TurtleController>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

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0
chapt4/chapt4_ws/src/demo_python_service/demo_python_service/__init__.py Normal file
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92
chapt4/chapt4_ws/src/demo_python_service/demo_python_service/face_detect_client_node.py Normal file
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import rclpy
from rclpy.node import Node
from chapt4_interfaces.srv import FaceDetector
from sensor_msgs.msg import Image
from ament_index_python.packages import get_package_share_directory
import cv2
from cv_bridge import CvBridge
from rcl_interfaces.srv import SetParameters
from rcl_interfaces.msg import Parameter, ParameterValue, ParameterType
class FaceDetectorClient(Node):
def __init__(self):
super().__init__('face_detect_client')
self.client = self.create_client(FaceDetector, '/face_detect')
self.bridge = CvBridge()
self.test1_image_path = get_package_share_directory(
'demo_python_service')+'/resource/test1.jpg'
self.image = cv2.imread(self.test1_image_path)
def send_request(self):
# 1.判断服务是否上线
while self.client.wait_for_service(timeout_sec=1.0) is False:
self.get_logger().info(f'等待服务端上线....')
# 2.构造 Request
request = FaceDetector.Request()
request.image = self.bridge.cv2_to_imgmsg(self.image)
# 3.发送并 spin 等待服务处理完成
future = self.client.call_async(request)
rclpy.spin_until_future_complete(self, future)
# 4.根据处理结果
response = future.result()
self.get_logger().info(
f'接收到响应: 图像中共有：{response.number}张脸，耗时{response.use_time}')
# 注释show_face_locations，防止显示堵塞无法多次请求
# self.show_face_locations(response)
def call_set_parameters(self, parameters):
# 1. 创建一个客户端，并等待服务上线
client = self.create_client(
SetParameters, '/face_detection_node/set_parameters')
while not client.wait_for_service(timeout_sec=1.0):
self.get_logger().info('等待参数设置服务端上线....')
# 2. 创建请求对象
request = SetParameters.Request()
request.parameters = parameters
# 3. 异步调用、等待并返回响应结果
future = client.call_async(request)
rclpy.spin_until_future_complete(self, future)
response = future.result()
return response
def update_detect_model(self,model):
# 1.创建一个参数对象
param = Parameter()
param.name = "face_locations_model"
# 2.创建参数值对象并赋值
new_model_value = ParameterValue()
new_model_value.type = ParameterType.PARAMETER_STRING
new_model_value.string_value = model
param.value = new_model_value
# 3.请求更新参数并处理
response = self.call_set_parameters([param])
for result in response.results:
if result.successful:
self.get_logger().info(f'参数 {param.name} 设置为{model}')
else:
self.get_logger().info(f'参数设置失败，原因为：{result.reason}')
def show_face_locations(self, response):
for i in range(response.number):
top = response.top[i]
right = response.right[i]
bottom = response.bottom[i]
left = response.left[i]
cv2.rectangle(self.image, (left, top),
(right, bottom), (255, 0, 0), 2)
cv2.imshow('Face Detection Result', self.image)
cv2.waitKey(0)
def main(args=None):
rclpy.init(args=args)
face_detect_client = FaceDetectorClient()
face_detect_client.update_detect_model('hog')
face_detect_client.send_request()
face_detect_client.update_detect_model('cnn')
face_detect_client.send_request()
rclpy.spin(face_detect_client)
rclpy.shutdown()

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import rclpy
from rclpy.node import Node
from chapt4_interfaces.srv import FaceDetector
from ament_index_python.packages import get_package_share_directory
from cv_bridge import CvBridge # 用于转换格式
import cv2
import face_recognition
import time
class FaceDetectorionNode(Node):
def __init__(self):
super().__init__('face_detection_node')
self.bridge = CvBridge()
self.service = self.create_service(FaceDetector, '/face_detect', self.detect_face_callback)
self.defaut_image_path = get_package_share_directory('demo_python_service')+'/resource/default.jpg'
self.upsample_times = 1
self.model = "hog"
# 声明和获取参数
self.declare_parameter('face_locations_upsample_times', 1)
self.declare_parameter('face_locations_model', "hog")
self.model = self.get_parameter("face_locations_model").value
self.upsample_times = self.get_parameter("face_locations_upsample_times").value
def detect_face_callback(self, request, response):
if request.image.data:
cv_image = self.bridge.imgmsg_to_cv2(
request.image)
else:
cv_image = cv2.imread(self.defaut_image_path)
start_time = time.time()
self.get_logger().info('加载完图像，开始检测')
face_locations = face_recognition.face_locations(cv_image, number_of_times_to_upsample=self.upsample_times, model=self.model)
end_time = time.time()
self.get_logger().info(f'检测完成，耗时{end_time-start_time}')
response.number = len(face_locations)
response.use_time = end_time - start_time
for top, right, bottom, left in face_locations:
response.top.append(top)
response.right.append(right)
response.bottom.append(bottom)
response.left.append(left)
return response
def main(args=None):
rclpy.init(args=args)
node = FaceDetectorionNode()
rclpy.spin(node)
rclpy.shutdown()

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chapt4/chapt4_ws/src/demo_python_service/demo_python_service/learn_face_detect.py Normal file
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import face_recognition
import cv2
from ament_index_python.packages import get_package_share_directory
def main():
# 获取图片真实路径
defaut_image_path = get_package_share_directory(
'demo_python_service')+'/resource/default.jpg'
# 使用 opencv 加载图像
image = cv2.imread(defaut_image_path)
# 查找图像中所有的人脸
face_locations = face_recognition.face_locations(
image, number_of_times_to_upsample=1, model='hog')
# 绘制每个人脸的边框
for top, right, bottom, left in face_locations:
cv2.rectangle(image, (left, top), (right, bottom), (255, 0, 0), 4)
# 显示结果图像
cv2.imshow('Face Detection', image)
cv2.waitKey(0)

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import launch
import launch_ros
def generate_launch_description():
action_declare_arg_max_spped = launch.actions.DeclareLaunchArgument('launch_max_speed', default_value='2.0')
action_node_turtle_control = launch_ros.actions.Node(
package='demo_cpp_service',
executable="turtle_control",
output='screen',
parameters=[{'max_speed': launch.substitutions.LaunchConfiguration(
'launch_max_speed', default='2.0')}],
)
action_node_patrol_client = launch_ros.actions.Node(
package='demo_cpp_service',
executable="patrol_client",
output='log',
)
action_node_turtlesim_node = launch_ros.actions.Node(
package='turtlesim',
executable='turtlesim_node',
output='both',
)
# 合成启动描述并返回
launch_description = launch.LaunchDescription([
action_declare_arg_max_spped,
action_node_turtle_control,
action_node_patrol_client,
action_node_turtlesim_node
])
return launch_description

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chapt4/chapt4_ws/src/demo_python_service/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>demo_python_service</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="mzebra@foxmail.com">mzebra</maintainer>
<license>Apache-2.0</license>
<depend>rclpy</depend>
<depend>chapt4_interfaces</depend>
<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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chapt4/chapt4_ws/src/demo_python_service/setup.cfg Normal file
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[develop]
script_dir=$base/lib/demo_python_service
[install]
install_scripts=$base/lib/demo_python_service

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chapt4/chapt4_ws/src/demo_python_service/setup.py Normal file
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from setuptools import find_packages, setup
from glob import glob
package_name = 'demo_python_service'
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']),
('share/' + package_name+"/resource", ['resource/default.jpg','resource/test1.jpg']),
('share/' + package_name+'/launch', glob('launch/*.launch.py')),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='mzebra',
maintainer_email='mzebra@foxmail.com',
description='TODO: Package description',
license='Apache-2.0',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'learn_face_detect=demo_python_service.learn_face_detect:main',
'face_detect_node=demo_python_service.face_detect_node:main',
'face_detect_client_node=demo_python_service.face_detect_client_node:main',
],
},
)

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chapt4/chapt4_ws/src/demo_python_service/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
chapt4/chapt4_ws/src/demo_python_service/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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chapt4/chapt4_ws/src/demo_python_service/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'