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ROS

naijoug大约 5 分钟

Wiki

Tutorials

Reference

ROS pkg

catkin

ROS Basic

ROS Commands

  • Node : 节点，一个可执行文件，它可以通过ROS与其它节点进行通信 (可以发布或接收一个话题, 也可以提供或使用某种服务)
$ rosnode -h                # 命令帮助信息
$ rosnode list              # 列出活跃的节点
$ rosnode info xxx          # 指定节点的信息
$ rosnode kill xxx          # 杀死某个活跃的节点
$ rosrun [package] [node]   # 启动摸个节点
  • Topic : 话题，节点可以发布消息到话题, 也可以订阅话题以接收消息 (节点之间通过话题通信)
$ rostopic list -v          # 显示所有发布和订阅的话题极其类型的详细信息
$ rostopic type xxx         # 查询话题的消息类型
$ rostopic pub -1 [topic] [msg_type] [args]     # 发布一次消息到某个广播的话题上
$ rostopic pub -r 2 [topic] [msg_type] [args]   # 固定频率发送消息到话题
$ rostopic echo [topic]     # 显示话题发布的消息
$ rostopic hz [topic]       # 话题发布的频率
  • Message : 消息，一种ROS数据类型，用于订阅或发布到一个话题 (话题之间通信是通过节点之间发送消息实现的)
$ rosmsg list               # 显示消息信息
$ rosmsg list | wc -l       # 统计共有多少个消息格式
$ rosmsg show xxx           # 查看消息的详情信息
  • Service : 服务，节点之间通讯的另一种方式 (服务允许节点发送请求 request 并获得一个响应 response)
# rosservice
$ rosservice list           # 显示活跃的服务信息
$ rosservice type xxx       # 查看指定服务的类型
# rossrv 
$ rossrv list | wc -l       # 统计共有多少服务格式
$ rossrv list               # 显示服务信息
  • 包
$ rospack list              # 查看
$ rospack find [package]    # 查找指定软件包
$ rosls [package]           # 列出包内内容
$ roscd [package]           # 进入包目录
  • 录制 & 回放
$ rosbag record [topic]     # 录制包
$ rosbag record -a          # 录制所有
$ rosbag play [bag]         # 回放包
$ rosbag play -r 2 [bag]    # 回放2次
$ rosbag info [bag]         # 检查包
  • 问题检查

wtf : Why The Failure

$ roswtf

TFopen in new window

使用view_frames查看tf树

$ rosrun tf view_frames     # 生成TF树的pdf文件
$ evince frames.pdf         # 产看pdf文件

URDFopen in new window

  • ROS 机器人描述--URDF和XACROopen in new window

  • joint 类型

    • continuous : 连续(360°无限转动，轮子、底座等)
    • revolute : 旋转(可以转动一定的角度)
    • prismatic : 棱柱(一维，可以沿一个方向伸缩)
    • planar : 平面(二维，可以在一个平面移动)

catkinopen in new window

ROS Usage

多机器连接

http://blog.csdn.net/weewqrer/article/details/48436731

配置 ROS_MASTER_URI

$ export ROS_MASTER_URI=http://ip:11311
$ export ROS_MASTER_URI=http://192.168.1.176:11311

Moveitopen in new window

Gazebo

抓取

ROS Robot

Scara

Braccioopen in new window

ABBopen in new window

URopen in new window

  • 优傲学院open in new window

  • issuesopen in new window

  • Develop Universal Robot (UR) in ROS: From Install to Demoopen in new window

  • Hitbotopen in new window

  • 运行时错误，该程序使用了太多时间而没有指导机器人..wait或sync()来拆分并未移动机器人的长程序序列。 (Runtime error: The program used too much time without instructing the robot what to do. Consider using a Wait or sync to split long program sequences that do not move the robot.)

    需要使用网线连接进行通信

  • UR 启动命令

    # 启动demo
$ roslaunch ur5_moveit_config demo.launch

# 启动Gazebo模拟
$ roslaunch ur_gazebo ur3.launch limited:=true  # 启动 Gazebo 仿真
$ roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true limited:=true # 启动 move_group
$ roslaunch ur3_moveit_config moveit_rviz.launch config:=true # 启动 moveit rviz

# 连接真机
$ roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT] # for UR v3.x
$ roslaunch ur_bringup ur3_bringup.launch robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT] # for v < 3.x
$ roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch limited:=true # 启动 move_group
$ roslaunch ur3_moveit_config moveit_rviz.launch config:=true # 启动 moveit rviz

ROS 线程

  • ROS的单线程Spinning和多线程Spinningopen in new window

  • 单线程

    • ros::spin() : (阻塞) 单线程自旋
    ros::spin();
// 等价于
#include <ros/callback_queue.h>
while (ros::ok())
{
  ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.1));
}
    • ros::spinOnce() : (阻塞) 定期调用等待在那个点上的所有回调
    ros::spinOnce();
// 等价于
#include <ros/callback_queue.h>
ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0));

  • 多线程

    • ros::MultiThreadedSpinner() : (阻塞)
    ros::MultiThreadedSpinner spinner(4); // Use 4 threads
spinner.spin(); // spin() will not return until the node has been shutdown
    • ros::AsyncSpinner() : (非阻塞)
    ros::AsyncSpinner spinner(4); // Use 4 threads
spinner.start();
ros::waitForShutdown();

  • ros::spin() 中开启 ros::AsyncSpinner() 报错

    Attempt to spin a callback queue from two spinners, one of them being single-threaded.
This will probably result in callbacks being executed out-of-order.
In future this will throw an exception!

ROS param

http://durant35.github.io/2017/07/14/ROS_%3Carg%3E$%3Cparam%3E$%3Crosparam%3E/ http://www.rosclub.cn/post-172.html http://blog.csdn.net/yiranhaiziqi/article/details/52949121

Moveit!

Error

Shutdown request received.
Reason given for shutdown: [new node registered with same name]
  • publisher 同时发送topic一个 subscriber
Shutdown request received.
Reason given for shutdown: [new node registered with same name]
  • RRTConnect: Motion planning start tree could not be initialized!
Joint 'wrist_3_joint' from the starting state is outside bounds by a significant margin: [ 6.41305 ] should be in the range [ -6.28319 ], [ 6.28319 ] but the error above the ~start_state_max_bounds_error parameter (currently set to 0.1)
[ WARN] [1513681940.744874967]: Joint wrist_3_joint is constrained to be above the maximum bounds. Assuming maximum bounds instead.
[ WARN] [1513681940.745355491]: Joint wrist_3_joint is constrained to be above the maximum bounds. Assuming maximum bounds instead.
[ INFO] [1513681940.747118552]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ WARN] [1513681940.749182949]: RRTConnect: Skipping invalid start state (invalid bounds)
[ERROR] [1513681940.749456699]: RRTConnect: Motion planning start tree could not be initialized!
[ WARN] [1513681940.751287915]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.003546 seconds


[ERROR] [1513772723.316020409]: Goal start doesn't match current pose
[ WARN] [1513772723.316842716]: Controller  failed with error code INVALID_GOAL
[ WARN] [1513772723.317141392]: Controller handle  reports status FAILED
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