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《动手学ROS2》4.5ROS2通信接口介绍

鱼香ROS 发布时间：2021-11-11 14:17:26 ，浏览量：0

本系列教程作者：小鱼 公众号：鱼香ROS QQ交流群：139707339 教学视频地址：小鱼的B站 完整文档地址：鱼香ROS官网 版权声明：如非允许禁止转载与商业用途。 公众号

4.3 ROS2接口介绍

本节小鱼将会带你认识一个新的概念，叫做interface，即接口。

1.什么是接口

接口其实是一种规范

你还记得前面几节的示例中，李四和王二分别使用了下面两种数据类型来传递小说和钱，这两种数据类型分别代表字符串和32位二进制的整型数据。

std_msgs/msg/String
std_msgs/msg/UInt32

李四所在的李家村是ament_python编译类型，使用的是Python语言，而王二所在的村庄的编译类型是ament_cmake，使用的是C++语言。不同语言对字符串的定义是不同的，而通过接口可以抹平这种语言差异。

使用接口对做机器人有什么好处呢？

小鱼举一个雷达的例子，不同的厂家生产出不同的类型的激光雷达，每种雷达驱动方式、扫描速率等等都不相同。

当机器人进行导航时，需要激光雷达的扫描数据，假如没有统一接口，每次更换一个种类的雷达，都需要重新做程序适配。

于是ROS2中定义了一个统一的接口叫做sensor_msgs/msg/LaserScan,现在几乎每个雷达的厂家都会编写程序将自己雷达的数据变成sensor_msgs/msg/LaserScan格式，提供给用户使用。

如果雷达的例子不好理解，大家可以把雷达换成手机充电器，USB接口是不是也是一种规范，所有的厂家都按照这种接口进行充电器和连接线的生产。

2. ROS2接口介绍

我们继续回到之前的例子上来，李四和王二传递小说和钱的时候，我们并没有定义接口，他们直接使用了std_msgs中的String和UInt32。

std_msgs功能包是我们安装ROS2的时候ROS2为我们自动安装的一个功能包，除了std_msgs之外，ROS2还定义了很多做机器人常用的接口。

使用ros2 interface package sensor_msgs命令可以查看某一个接口包下所有的接口

比如：传感器类的消息包sensor_msgs

打开终端输入：ros2 interface package sensor_msgs
sensor_msgs/msg/JointState  #机器人关节数据
sensor_msgs/msg/Temperature #温度数据
sensor_msgs/msg/JoyFeedbackArray 
sensor_msgs/msg/Joy
sensor_msgs/msg/PointCloud2 #点云
sensor_msgs/msg/MultiEchoLaserScan 
sensor_msgs/msg/NavSatStatus 
sensor_msgs/msg/CameraInfo #相机信息
sensor_msgs/msg/Illuminance 
sensor_msgs/msg/MagneticField
sensor_msgs/srv/SetCameraInfo
sensor_msgs/msg/LaserEcho 
sensor_msgs/msg/RegionOfInterest
sensor_msgs/msg/PointCloud #点云
sensor_msgs/msg/Range #范围
sensor_msgs/msg/RelativeHumidity
sensor_msgs/msg/FluidPressure
sensor_msgs/msg/BatteryState
sensor_msgs/msg/Imu #加速度传感器
sensor_msgs/msg/Image #图像
sensor_msgs/msg/PointField
sensor_msgs/msg/JoyFeedback
sensor_msgs/msg/LaserScan #雷达数据
sensor_msgs/msg/MultiDOFJointState #多自由度关节数据
sensor_msgs/msg/TimeReference 
sensor_msgs/msg/CompressedImage #压缩图像
sensor_msgs/msg/NavSatFix 
sensor_msgs/msg/ChannelFloat32

虽然ROS2为我们定义了大量拿来就用的接口，但有时候还是不能满足我们的变态想法，比如：李四想给自己的小说每章开头加一张插图，该怎么办？

办法就是自定义接口。

3.ROS2自定义接口

在3.1章节中，小鱼提到过，ROS2提供了四种通信方式：

  • 话题-Topics
  • 服务-Services
  • 动作-Action
  • 参数-Parameters

除了参数之外，话题、服务和动作(Action)都支持自定义接口，每一种通信方式所适用的场景各不相同，所定义的接口也被分为话题接口、服务接口、动作接口三种。

这三种接口定义起来有什么不一样的地方呢？小鱼先带大家直观感受一下：

话题接口格式：xxx.msg

int64 num

服务接口格式：xxx.srv

int64 a
int64 b
---
int64 sum

动作接口格式：xxx.action

int32 order
---
int32[] sequence
---
int32[] partial_sequence

有的同学可能会问这样一个问题，我们只是简单的写了一下变量类型和名称，我们在程序里面怎么调用呢？

其实这里有一个转换的过程：将msg、srv、action文件转换为Python和C++的头文件。

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msg,srv,action
ROS2-IDL转换器
Python的py,C++的.h头文件

通过ROS2的IDL模块 产生了头文件，有了头文件，我们就可以在程序里导入并使用这个消息模块。

4.ROS2接口常用CLI命令

最后给大家讲一下ROS2接口相关的常用命令有哪些。

4.1查看接口列表（当前环境下） 
ros2 interface list

image-20210809161530132

4.2查看所有接口包 
ros2 interface packages

image-20210809161135322

4.3查看某一个包下的所有接口 
ros2 interface package std_msgs

image-20210809161840684

4.4查看某一个接口详细的内容 
ros2 interface show std_msgs/msg/String

image-20210809161933104

4.5 输出某一个接口所有属性 
ros2 interface proto sensor_msgs/msg/Image

image-20210809162247422

5.总结

了解了ROS2的接口，下一节我们就来自定义一个接口来试一试

作者介绍：

我是小鱼，机器人领域资深玩家，现深圳某独脚兽机器人算法工程师一枚 初中学习编程，高中开始接触机器人，大学期间打机器人相关比赛实现月入2W+（比赛奖金） 目前在输出机器人学习指南、论文注解、工作经验，欢迎大家关注小智，一起交流技术，学习机器人

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