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@srs(project_srs)

ROS2講座23 記法一覧表

Last updated at Posted at 2024-07-29

環境

この記事は以下の環境で動いています。

項目 値
CPU Core i5-8250U
Ubuntu 20.04
ROS Noetic
Gazebo 11.9.0
python 3.8.10
OpenCV 4.2
Qt 5.12.8

インストールについてはROS講座02 インストールを参照してください。
またこの記事のプログラムはgithubにアップロードされています。ROS講座11 gitリポジトリを参照してください。

概要

ROS2には様々な機能があり、それを様々なレイヤーからアクセスすることが出来ます。
プログラムを書くときの参考に記法の一覧をまとめます。
機能の中身は個別の記事に譲ります

一覧表（追記メモ）

rclcpp rclpy command line launch other tool
msg
topic (pub,sub,list)
service
action
QoS
param
tf
transform
quaternion変換
log
diag
timer
time(now)
duration
node(name,ns,remap)
rosbag

記法一覧

msg

int32/float32等の基本型とTime、Durationの型があります。
他のパッケージのmsgを流用する場合はxxx_msgs/yyyという形で記載します

topic.msg
std_msgs/Header header
builtin_interfaces/Time stamp
builtin_interfaces/Duration stamp

bool active_flag
geometry_msgs/Point point

serviceは---で区切って、前がrequest、後ろがresponseになります。

service.srv
int8
int16
int32
int64
---
uint8
uint16
uint32
uint64

actionは---で3つに区切って、goal、result、feedbackになります。

action.action
float32
---
float64
---
string

topic

pub

rclcpp_publisher
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>

auto node = rclcpp::Node::make_shared("my_publisher");
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr string_pub = node->create_publisher<std_msgs::msg::String>(
      "string", 1);

std_msgs::msg::String msg;
string_pub->publish(msg);
rclpy_publisher
from rclpy.node import Node
from std_msgs.msg import String

node = Node()
str_pub = node.create_publisher(String, "topic", 1)

msg = String()
str_pub.publish(msg)
command line
ros2 topic pub /string std_msgs/msg/String '{"data":"message"}'

sub

rclcpp_subscriber
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>

auto node = rclcpp::Node::make_shared("my_publisher");
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr string_sub = node->create_subscription<std_msgs::msg::String>(
      "string", 1, std::bind(&Class::onMsg, this, std::placeholders::_1));

void onMsg(const std_msgs::msg::String::SharedPtr msg) {
    std::cout << msg->data << std::endl;
}

callbackの登録はclassでの使用例です。

rclpy_subscriber
from rclpy.node import Node
from std_msgs.msg import String

node = Node()
str_sub = node.create_subscription(String, "topic", string_callback, 1)

def string_callback(self, msg):
    print("msg", msg)
command line
ros2 topic echo /string

service

client

rclcpp_client
#include <std_srvs/srv/set_bool.hpp>

auto node = rclcpp::Node::make_shared("my_publisher");
rclcpp::Client<std_srvs::srv::SetBool>::SharedPtr bool_client = node->create_client<std_srvs::srv::SetBool>("set_bool");

if (!bool_client->service_is_ready()) {
    RCLCPP_WARN(node->get_logger(), "mode service not connect");
    onSetupComplete(false);
} else {
    auto request = std::make_shared<std_srvs::srv::SetBool::Request>();
    request->data = true;
    auto future = request_mode_client_->async_send_request(request, std::bind(&MyNode::onResponse, this, std::placeholders::_1));
}

void onResponse(rclcpp::Client<std_srvs::srv::SetBool>::SharedFuture future) {
    if (!future.get()->success) {
        RCLCPP_WARN(get_logger(), "set mode fail");
    }
}
command_line
ros2 service call /set_bool std_srvs/srv/SetBool `{"data":true}`

server

rclcpp_server
#include <std_srvs/srv/set_bool.hpp>

auto node = rclcpp::Node::make_shared("my_publisher");

rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr bool_srv = node->create_service<std_srvs::srv::SetBool>("/set_bool", std::bind(&MyNode::onRequest, this, std::placeholders::_1, std::placeholders::_2));

void onRequest(const std::shared_ptr<std_srvs::srv::SetBool::Request> request, std::shared_ptr<std_srvs::srv::SetBool::Response> response) {
}
rclpy_server
from std_srvs.srv import SetBool

node = Node()
set_bool_srv = node.create_service(SetBool, "service_name", self.set_bool_callback)

def set_bool_callback(self, request, response):
    response.success = True

action

parameter

rclcpp
ros_node_->declare_parameter("param_key", 1.0f);
float value = ros_node_->get_parameter("param_key").as_double();

型ごとの取得APIは以下

型 単体 リスト
uint8_t -- as_byte_array()
bool as_bool() as_bool_array()
int64_t as_int() as_integer_arra()
double as_double() as_double_array()
std::string as_string() as_string_array()
rclpy
self.declare_parameter('param_key', "abc")
my_param = self.get_parameter('param_key').get_parameter_value().string_value

declare_parameterで型を指定する必要がある。空リストはstringのリストと見なされるので、それ以外のリストの場合はダミーの値を入れる必要がある。

launch
Node(
    package="xxx_pkg",
    executable="xxx_node",
    parameters=[
        param_file.yaml,
        {
            "param_key1":value,
            "param_key2":value
        }
    ],
)
command_line(run)
ros2 run xxx_pkg xxx_node -ros-args -p <param_name>:=<value>
ros2 run xxx_pkg xxx_node -ros-args --params-file <param_file.yaml>
command_line(get)
ros2 param list
ros2 param dump <node_name>
param_file.yaml
node_handle_name1:
  ros__parameters:
    int_value1: 12
    structure_valie:
        string_value: "abcd"
        list_value: [1,2,3]
node_handle_name2:
  ros__parameters:
    int_value1: 12

ノード毎に指定します（ROS2は1プロセス中に複数のノードを起動できる）

param_file.yaml
/**:
  ros__parameters:
    int_value1: 12

上記のようにワイルドカードも指定できます。

Timer

rclcpp
auto node = rclcpp::Node::make_shared("my_timer");
rclcpp::TimerBase::SharedPtr interval_timer = node->create_wall_timer(100ms, std::bind(&MyClass::onIntervalTimer, this));
rclpy
node = Node()
interval_timer = node.create_timer(0.5, timer_callback)

def timer_callback():
    ...

Time/Duration

rclcpp
rclcpp::Time ros_now = node->now();
rclcpp::Duration duration = rclcpp::Duration::from_seconds(0.1);

std_msgs::String msg;
msg.header.stamp = (ros_now + duration);

double time_double = ros_now.nanoseconds() * 1e-9;
double duration_double = duration.seconds();
rclpy
from rclpy import time

ros_now = node.get_clock().now()
duration = rclpy.duration.Duration(seconds=1.0, nanoseconds=1000000000)

msg = std_msgs.msg.String()
msg.header.stamp = (ros_now + duration).to_msg()
time = time.Time.from_msg(msg.header.stamp)

launch_argument

log

rclcpp
auto node = std::make_shared<Node>("node")
RCLCPP_INFO(node->get_logger(), "message");
RCLCPP_INFO_THROTTLE(node->get_logger(), *(node->get_clock()), 1000, "message every 1000ms");
RCLCPP_INFO_SKIPFIRST_THROTTLE(node->get_logger(), *(node->get_clock()), 5000, "message every 1000ms skip first");

rclcpp::Logger logger = rclcpp::get_logger("logger");
RCLCPP_INFO(logger, "message");
rclpy
node.get_logger().info('message')
node.get_logger().error('message every 1s', throttle_duration_sec=1)
node.get_logger().error('message every 1s', throttle_duration_sec=1, skip_first=True)

tf

broadcast

rclcpp
#include <tf2_ros/transform_broadcaster.h>

tf_broadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(node);

geometry_msgs::msg::TransformStamped transformStamped;
transformStamped.header = odom.header;
transformStamped.child_frame_id = odom.child_frame_id;
transformStamped.transform.translation.x = odom.pose.pose.position.x;
transformStamped.transform.translation.y = odom.pose.pose.position.y;
transformStamped.transform.translation.z = odom.pose.pose.position.z;
transformStamped.transform.rotation = odom.pose.pose.orientation;
tf_broadcaster->sendTransform(transformStamped);
command line
ros2 run tf2_ros static_transform_publisher --frame-id map --child-frame-id odom

listen

listener
from_frame_rel = "odom"
to_frame_rel = "base_link"

try:
    latest_ros_time = self.tf_buffer.get_latest_common_time(from_frame_rel, to_frame_rel)
    t = self.tf_buffer.lookup_transform(
        from_frame_rel,
        to_frame_rel,
        latest_ros_time)
except TransformException as ex:
    self.get_logger().info(f'Could not transform {from_frame_rel} to {to_frame_rel}: {ex}')
    return

self.get_logger().info(f'transform {t}')
rclcpp
#include <tf2_ros/transform_listener.h>

std::unique_ptr<tf2_ros::Buffer> tf_buffer = std::make_unique<tf2_ros::Buffer>(node->get_clock());
std::shared_ptr<tf2_ros::TransformListener> tf_listener = std::make_shared<tf2_ros::TransformListener>(*tf_buffer);

try {
  std::string error_str;
  if (tf_buffer_->canTransform(source_frame_id, target_frame_id, tf2::TimePointZero, &error_str)) {
      return tf_buffer_->lookupTransform(source_frame_id, target_frame_id, tf2::TimePointZero);
  }
} catch (const tf2::TransformException & ex) {
}
command line
ros2 run tf2_ros tf2_echo map base_link

実行

command_lineの基本
ros2 run pkg_name node_name
command_lineパラメーター付き
ros2 run pkg_name node_name --ros-args -r topic:=new_topic
  • トピック名リネーム -r original_topic:=new_topic
  • ノード名リネーム -r __node:=new_node_name
  • ネームスペース名リネーム -r __ns:=new_name_space_name
  • パラメーター設定 -p param_name:=param_value
  • パラメーターファイルの適用 --params-file params_file.yaml

複数設定する時は--ros-args -r a:=aa -r b:=bbと記載します。

参考

tf2_ros使い方
tf2 convert

目次ページへのリンク

ROS講座の目次へのリンク

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