头文件 

#include <ros/ros.h> #include <nav_msgs/Odometry.h> #include <sensor_msgs/Imu.h> #include <sensor_msgs/NavSatFix.h> #include <sensor_msgs/PointCloud2.h> #include <std_msgs/Float32.h> #include <cv_bridge/cv_bridge.h>

类定义

class Scheduler { public: Scheduler(ros::NodeHandle& node_handle); ~Scheduler(); void initialize(); void run(); private: void imuHandler(const sensor_msgs::Imu::ConstPtr& msg); void gpsHandler(const sensor_msgs::NavSatFix::ConstPtr& msg); void cloudHandler(const sensor_msgs::PointCloud2ConstPtr& msg); void imageHandler(const sensor_msgs::Image::ConstPtr& msg); void compressedImageHandler(const sensor_msgs::CompressedImage::ConstPtr& msg); private: ros::NodeHandle node_handle_; // Subscriber ros::Subscriber imu_sub_; ros::Subscriber gnss_sub_; ros::Subscriber cloud_sub_; ros::Subscriber image_sub_; ros::Subscriber compressed_image_sub_; // Publisher ros::Publisher location_pub_; };

初始化

void Scheduler::initialize() { imu_sub_ = node_handle_.subscribe("imu_topic", 10, &Scheduler::imuHandler, this, ros::TransportHints().tcpNoDelay()); gnss_sub_ = node_handle_.subscribe("gps_topic", 2, &Scheduler::gpsHandler, this); cloud_sub_ = node_handle_.subscribe<sensor_msgs::PointCloud2>("lidar_topic", 1, &Scheduler::cloudHandler, this); image_sub_ = node_handle_.subscribe("camera_topic", 5, &Scheduler::imageHandler, this); compressed_image_sub_ = node_handle_.subscribe("camera_topic", 5, &Scheduler::compressedImageHandler, this); }

回调函数

void Scheduler::imuHandler(const sensor_msgs::Imu::ConstPtr& msg) { time = msg->header.stamp.toSec(); // acceleration Eigen::Vector3d acceleration(msg->linear_acceleration.x, msg->linear_acceleration.y, msg->linear_acceleration.z); // angular velocity Eigen::Vector3d angular_velocity(msg->angular_velocity.x, msg->angular_velocity.y, msg->angular_velocity.z); } void Scheduler::gpsHandler(const sensor_msgs::NavSatFix::ConstPtr& msg) { Eigen::Vector3d position(msg->longitude, msg->latitude, msg->altitude); } void Scheduler::cloudHandler(const sensor_msgs::PointCloud2ConstPtr& msg) { pcl::PointCloud<pcl::PointXYZI>::Ptr cloud; pcl::fromROSMsg(*msg, *cloud); } void Scheduler::imageHandler(const sensor_msgs::ImageConstPtr &msg) { double time_nsecond = msg->header.stamp.toNSec(); cv::Mat color_image; cv_bridge::CvImageConstPtr srcImage = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::RGB8); }

服务器

bool add(beginner_tutorials::AddTwoInts::Request &req, beginner_tutorials::AddTwoInts::Response &res) { res.sum = req.a + req.b; ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b); ROS_INFO("sending back response: [%ld]", (long int)res.sum); return true; } ros::ServiceServer service = n.advertiseService("add_two_ints", add);

客户端

ros::NodeHandle n; ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts("add_two_ints"); beginner_tutorials::AddTwoInts srv; srv.request.a = atoll(argv[1]); srv.request.b = atoll(argv[2]); if (client.call(srv)) { ROS_INFO("Sum: %ld", (long int)srv.response.sum); } else { ROS_ERROR("Failed to call service add_two_ints"); return 1; }

参数服务器

std::string parameter; node_handle_.param<std::string>("param", parameter, "parameters.xml");

主函数

int main(int argc, char **argv) { ros::init(argc, argv, "node"); ros::NodeHandle node_handle("~"); ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info); double time = ros::Time::now().toSec() // 获取系统时间 Scheduler scheduler(node_handle); scheduler.initialize(); scheduler.run(); return 0; }

常用命令

按时间截取

rosbag filter orign.bag new.bag "t.secs >=576210103 and t.secs <=576210303"

显示数据包的信息

rosbag info data.bag

播放数据包

rosbag play data.bag

可视化

rqt_image_view

录包

rosbag record命令是用于在ros系统中录取系统中其他ros节点发出来的topic的message。录取的的包可以使用rosbag play命令来回放，订阅这些消息的node节点就可以收到这些消息，进而执行对应的程序。这样的话，就可以将自动驾驶汽车或者无人机、机器人等自动化机器在室外一些环境下遇到的问题，通过录包的方法拿到办公室来仔细研究解决。

rosbag record命令在终端下显示完整命令参数如下：

kitty@kitty-TM1705:~$ rosbag record -help Usage: rosbag record TOPIC1 [TOPIC2 TOPIC3 ...] Record a bag file with the contents of specified topics. Options: -h, --help show this help message and exit -a, --all record all topics -e, --regex match topics using regular expressions -x EXCLUDE_REGEX, --exclude=EXCLUDE_REGEX exclude topics matching the follow regular expression (subtracts from -a or regex) -q, --quiet suppress console output -o PREFIX, --output-prefix=PREFIX prepend PREFIX to beginning of bag name (name will always end with date stamp) -O NAME, --output-name=NAME record to bag with name NAME.bag --split split the bag when maximum size or duration is reached --max-splits=MAX_SPLITS Keep a maximum of N bag files, when reaching the maximum erase the oldest one to keep a constant number of files. --size=SIZE record a bag of maximum size SIZE MB. (Default: infinite) --duration=DURATION record a bag of maximum duration DURATION in seconds, unless 'm', or 'h' is appended. -b SIZE, --buffsize=SIZE use an internal buffer of SIZE MB (Default: 256, 0 = infinite) --chunksize=SIZE Advanced. Record to chunks of SIZE KB (Default: 768) -l NUM, --limit=NUM only record NUM messages on each topic --node=NODE record all topics subscribed to by a specific node -j, --bz2 use BZ2 compression --lz4 use LZ4 compression --tcpnodelay Use the TCP_NODELAY transport hint when subscribing to topics. --udp Use the UDP transport hint when subscribing to topics.

rosbag record TOPIC1 [TOPIC2 TOPIC3 ...] 这是最简单的使用方法是。比如录取message_1的命令：rosbag record message_1；

通常的使用都是根据需求和可选的参数配合使用的，比如要录所有的topic，使用rosbag record -a命令。

查看消息

rostopic echo [topic name]

当echo topic： /radar_all_tracker时，如果只想接收 header，使用方式如下，

ros2 topic echo /radar_all_tracker | grep header -A4

-A4表示接收 header 后四行

参考文献

https://blog.csdn.net/moyu123456789/article/details/97283335https://blog.csdn.net/xiaocainiaoshangxiao/article/details/13742123https://blog.csdn.net/jack_20/article/details/71249170https://blog.csdn.net/qq_28087491/article/details/113367676