pythonでROS1のpub/sub_part1
やること
- ROS1の作業フォルダ作成
- ROS1でメッセージのやり取り(pub/sub)
(pub/subは失敗)
ROS1の作業フォルダの作成
フォルダの作成及び、melodicのpath設定
mkdir -p rospython/src cd rospython source /opt/ros/melodic/setup.bash tree .
実行結果
. └── src 1 directory, 0 files
makeで必要なファイルを作成
catkin_make
実行結果
Base path: /home/hogehoge/rospython Source space: /home/hogehoge/rospython/src Build space: /home/hogehoge/rospython/build Devel space: /home/hogehoge/rospython/devel Install space: /home/hogehoge/rospython/install Creating symlink "/home/hogehoge/rospython/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake" #### #### Running command: "cmake /home/hogehoge/rospython/src -DCATKIN_DEVEL_PREFIX=/home/hogehoge/rospython/devel -DCMAKE_INSTALL_PREFIX=/home/hogehoge/rospython/install -G Unix Makefiles" in "/home/hogehoge/rospython/build" #### -- The C compiler identification is GNU 7.5.0 -- The CXX compiler identification is GNU 7.5.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/hogehoge/rospython/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/melodic -- This workspace overlays: /opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/hogehoge/rospython/build/test_results -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.23 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- Configuring done -- Generating done -- Build files have been written to: /home/hogehoge/rospython/build #### #### Running command: "make -j8 -l8" in "/home/hogehoge/rospython/build" ####
するとファイルが作成される
├── build │ ├── CMakeFiles │ │ ├── 3.10.2 │ │ │ ├── CompilerIdC │ │ │ │ └── tmp │ │ │ └── CompilerIdCXX │ │ │ └── tmp │ │ ├── CMakeTmp │ │ ├── clean_test_results.dir │ │ ├── download_extra_data.dir │ │ ├── doxygen.dir │ │ ├── run_tests.dir │ │ └── tests.dir │ ├── atomic_configure │ ├── catkin │ │ └── catkin_generated │ │ └── version │ ├── catkin_generated │ │ ├── installspace │ │ └── stamps │ │ └── Project │ ├── gtest │ │ ├── CMakeFiles │ │ └── googlemock │ │ ├── CMakeFiles │ │ │ ├── gmock.dir │ │ │ │ ├── __ │ │ │ │ │ └── googletest │ │ │ │ │ └── src │ │ │ │ └── src │ │ │ └── gmock_main.dir │ │ │ ├── __ │ │ │ │ └── googletest │ │ │ │ └── src │ │ │ └── src │ │ └── gtest │ │ └── CMakeFiles │ │ ├── gtest.dir │ │ │ └── src │ │ └── gtest_main.dir │ │ └── src │ └── test_results ├── devel │ └── lib └── src
必要なパッケージを追加して、オリジナルのパッケージを作る
cd src catkin_create_pkg ros_pubsubtest roscpp rospy std_msgs
出力結果
Created file ros_pubsubtest/package.xml Created file ros_pubsubtest/CMakeLists.txt Created folder ros_pubsubtest/include/ros_pubsubtest Created folder ros_pubsubtest/src Successfully created files in /home/hogehoge/rospython/src/ros_pubsubtest. Please adjust the values in package.xml.
すると、以下の要はフォルダーが出来上がります
/rospython/src$ tree .
.
├── CMakeLists.txt -> /opt/ros/melodic/share/catkin/cmake/toplevel.cmake
└── ros_pubsubtest
├── CMakeLists.txt
├── include
│ └── ros_pubsubtest
├── package.xml
└── src
最後に、もう一度catkin_makeをrospython内で行うとフォルダの完成です
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 1 packages in topological order: -- ~~ - ros_pubsubtest -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'ros_pubsubtest' -- ==> add_subdirectory(ros_pubsubtest)
こんなログが出てきます
pub/sub作成
/rospython/src/ros_pubsubtest/msg/にpubsub.msgというファイルを作り、以下を記述する
int32 arg_x int32 arg_y
14行目ぐらいのfind_packageにmessage_generationを追加
51行目ぐらいのadd_message_filesをコメント解除し、pubsub.msgを追加
73行目ぐらいのgenerate_messagesをすべてコメント解除
107行目ぐらいのcatkin_packageのLIBRARIES ros_pubsubtest, CATKIN_DEPENDS roscpp rospy std_msgs, DEPENDS system_libをコメント解除
rospythonに戻って、catkin_makeを実行すると
Base path: /home/hogehoge/rospython Source space: /home/hogehoge/rospython/src Build space: /home/hogehoge/rospython/build Devel space: /home/hogehoge/rospython/devel Install space: /home/hogehoge/rospython/install #### #### Running command: "make cmake_check_build_system" in "/home/hogehoge/rospython/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/hogehoge/rospython/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/melodic -- This workspace overlays: /opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/hogehoge/rospython/build/test_results -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.23 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 1 packages in topological order: -- ~~ - ros_pubsubtest -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'ros_pubsubtest' -- ==> add_subdirectory(ros_pubsubtest) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- ros_pubsubtest: 1 messages, 0 services CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'system_lib' but neither 'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) ros_pubsubtest/CMakeLists.txt:107 (catkin_package) -- Configuring done -- Generating done -- Build files have been written to: /home/hogehoge/rospython/build #### #### Running command: "make -j8 -l8" in "/home/hogehoge/rospython/build" #### Scanning dependencies of target std_msgs_generate_messages_eus Scanning dependencies of target _ros_pubsubtest_generate_messages_check_deps_pubsub Scanning dependencies of target std_msgs_generate_messages_nodejs Scanning dependencies of target std_msgs_generate_messages_py Scanning dependencies of target std_msgs_generate_messages_lisp Scanning dependencies of target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target _ros_pubsubtest_generate_messages_check_deps_pubsub Scanning dependencies of target ros_pubsubtest_generate_messages_eus Scanning dependencies of target ros_pubsubtest_generate_messages_py Scanning dependencies of target ros_pubsubtest_generate_messages_nodejs Scanning dependencies of target ros_pubsubtest_generate_messages_cpp Scanning dependencies of target ros_pubsubtest_generate_messages_lisp [ 14%] Generating EusLisp code from ros_pubsubtest/pubsub.msg [ 28%] Generating Python from MSG ros_pubsubtest/pubsub [ 57%] Generating EusLisp manifest code for ros_pubsubtest [ 57%] Generating Javascript code from ros_pubsubtest/pubsub.msg [ 71%] Generating C++ code from ros_pubsubtest/pubsub.msg [ 85%] Generating Lisp code from ros_pubsubtest/pubsub.msg [ 85%] Built target ros_pubsubtest_generate_messages_nodejs [ 85%] Built target ros_pubsubtest_generate_messages_lisp [ 85%] Built target ros_pubsubtest_generate_messages_cpp [100%] Generating Python msg __init__.py for ros_pubsubtest [100%] Built target ros_pubsubtest_generate_messages_py [100%] Built target ros_pubsubtest_generate_messages_eus Scanning dependencies of target ros_pubsubtest_generate_messages [100%] Built target ros_pubsubtest_generate_messages
というログが出る
次に、pub/subをするpythonコードを作成する
ros_pubsubtestフォルダ内に、scriptフォルダを作成し、その中にコードを作る
publish.py
#! /usr/bin/python
# -*- cording: utf-8 -*-
import rospy
from ros_pubsubtest.msg import pubsub
def pub():
rospy.init_node('pub', anonymous=True)
pub = rospy.Publisher('input_data', pubsub, queue_size=100)
r = rospy.Rate(10)
para_x = 0
para_y = 2
msg = pubsub()
while not rospy.is_shutdown():
msg.arg_x = para_x
msg.arg_y = para_y
pub.publish(msg)
print "published arg_x=%d arg_y=%d"%(msg.arg_x, msg.arg_y)
para_x += 1
para_y += 1
r.sleep()
if __name__=='__main__':
try:
pub()
except rospy.ROSInterruptException:
pass
subscribe.py
#! /usr/bin/python
# -*- coding: utf-8 -*-
import rospy
from ros_pubsubtest.msg import pubsub
def callback(data):
print data.arg_x + data.arg_y
def sub():
rospy.init_node('sub', anonymous = True)
rospy.Subscriber('input_data', pubsub, callback)
rospy.spin()
if __name__ == '__main__':
sub()
~/rospython/でcatkin_makeを実行
Base path: /home/hogehoge/rospython Source space: /home/hogehoge/rospython/src Build space: /home/hogehoge/rospython/build Devel space: /home/hogehoge/rospython/devel Install space: /home/hogehoge/rospython/install #### #### Running command: "make cmake_check_build_system" in "/home/hogehoge/rospython/build" #### #### #### Running command: "make -j8 -l8" in "/home/hogehoge/rospython/build" #### [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target _ros_pubsubtest_generate_messages_check_deps_pubsub [ 42%] Built target ros_pubsubtest_generate_messages_eus [ 57%] Built target ros_pubsubtest_generate_messages_py [ 85%] Built target ros_pubsubtest_generate_messages_nodejs [ 85%] Built target ros_pubsubtest_generate_messages_cpp [100%] Built target ros_pubsubtest_generate_messages_lisp [100%] Built target ros_pubsubtest_generate_messages
ビルドが完了したので実行してみる
terminal1
cd ~/rospython; source devel/setup.bash roscore
無事にroscore起動
terminal2
cd ~/rospython; source devel/setup.bash rosrun ros_pubsubtest publish.py
エラーが出る
[rosrun] Couldn't find executable named publish.py below /home/hogehoge/rospython/src/ros_pubsubtest [rosrun] Found the following, but they're either not files, [rosrun] or not executable: [rosrun] /home/hogehoge/rospython/src/ros_pubsubtest/script/publish.py
長くなったので、エラー解析は次回ということで。。。
