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feat(level1): ROS2 完全体 12 包 / 80 测试 / 23 文档 / 工程化 / Docker 分组

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2026-08-04 10:19:47 +08:00
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.gitlab-ci.yml
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# GitLab CI 配置 - ROS2 项目自动 build + test
#
# 触发:
# - 推送到 master / develop
# - Merge Request
#
# 阶段:
# 1. lint - 静态检查(ruff + flake8 + cpp linter)
# 2. build - Docker 镜像 + colcon build
# 3. test - colcon test(全部包)
# 4. docs - (可选)生成 sphinx 文档
stages:
- lint
- build
- test
variables:
DOCKER_IMAGE: "ros2-humble-dev:latest"
DOCKER_COMPOSE_PROJECT: "ros2-ci"
PACKAGES: "py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo py_params cpp_custom_interface py_lifecycle_composable cpp_qos_demo py_overlay_dds bringup"
# ---------- 共享缓存 ----------
.cache-template: &docker-cache
key: docker-cache
paths:
- docker/.cache/
# ---------- Lint ----------
lint:python:
stage: lint
image: python:3.10
before_script:
- pip install ruff flake8
script:
- ruff check src/ || true
- flake8 src/ --max-line-length=120 || true
rules:
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
- if: $CI_COMMIT_BRANCH == "master"
- if: $CI_COMMIT_BRANCH == "develop"
# ---------- Build ----------
build:docker:
stage: build
image: docker:24
services:
- docker:dind
variables:
DOCKER_TLS_CERTDIR: ""
DOCKER_HOST: tcp://docker:2375
before_script:
- docker info
script:
- docker compose -p ${DOCKER_COMPOSE_PROJECT} -f docker/docker-compose.yml build
rules:
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
- if: $CI_COMMIT_BRANCH == "master"
- if: $CI_COMMIT_BRANCH == "develop"
# ---------- Test ----------
test:colcon:
stage: test
image: ${DOCKER_IMAGE}
needs: ["build:docker"]
before_script:
- apt-get update -qq
- apt-get install -y --no-install-recommends colcon
script:
- source /opt/ros/humble/setup.bash
- cd /root/ros2_ws
- colcon build --symlink-install --packages-select ${PACKAGES}
- colcon test --packages-select ${PACKAGES}
- colcon test-result --verbose
artifacts:
when: always
paths:
- build/**/test_results/
- log/
expire_in: 7 days
rules:
- if: $CI_PIPELINE_SOURCE == "merge_request_event"
- if: $CI_COMMIT_BRANCH == "master"
- if: $CI_COMMIT_BRANCH == "develop"
AGENTS.md
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# ROS2 子项目 Agent 铁律
# ROS2 子项目 Agent 铁律 + 工作流
## 铁律 (Hard Rules)
**违反任何一条,所有变更立刻回滚。**
1. **只允许在本目录 `D:\xs\ros2` 下创建/修改/删除文件。**
- 任何系统临时目录(`%TEMP%`、`/tmp` 等) 一律禁止落盘。
- 在 Windows 下临时目录会残留垃圾文件且不清理,绝对禁止。
- 创建临时数据用 PowerShell 内存对象或 stdout,不写盘。
2. **禁止用 shell(PowerShell / cmd)编辑文件。**
- 改 / 写 / 读文件一律用内置工具:Read / Edit / Write / Glob / Grep。
- shell(本会话的 `bash` 工具)只允许运行可执行命令,例如 `docker ...`、`colcon ...`,**不允许用 `Set-Content`、`Out-File`、`>`、`>>` 写文件**。
- 禁止 `cd` / `Set-Location` 切换工作目录;需要别的目录时,在 `bash` 工具里用绝对路径,或者在 GUI / 编辑器里用内置工具定位。
3. **禁止到处创建文件/目录。**
- 不擅自创建 `.cache/`、`.tmp/`、`.bak/` 等隐藏目录。
- 不擅自创建 `test/xxx` 临时目录、"out/`、`日志/。
- 所有产出(镜像 `ros2-humble-dev:latest`、容器 `ros2_dev`、构建目录 `install/`、`build/`、`log/`)放在本项目内或其默认位置,不放别处。
4. **禁止问与思考循环。**
- 用户拒绝连续"要不要 / 要不要这样"。给出明确方案,直接开干。
- 必须问时,一次问清,不要反问。
5. **测试必须 100% 通过才能停手。**
- `docker compose build` + `colcon build` + `colcon test` + 节点启动 + `ros2 topic echo` 全绿才能汇报"完成"。
- 任何环节失败 → 自动修 → 再跑,直到全过。
2. **禁止用 shell(PowerShell / cmd)编辑文件**。改/写/读文件一律用内置工具:Read / Edit / Write / Glob / Grep。
- shell 只允许运行可执行命令,例如 `docker ...`、`colcon ...`
- **不允许**用 `Set-Content`、`Out-File`、`>`、`>>` 写文件
3. **禁止到处创建文件/目录**。所有产出放在本项目内或其默认位置。
4. **禁止问与思考循环**。给出明确方案,直接开干。
5. **测试必须 100% 通过才能停手**。
- `make colcon-build` + `make colcon-test` 全绿才能汇报"完成"
## 子项目结构
## 编程规范(必读)
**严格遵循 [`doc/CODING_STYLE.md`](doc/CODING_STYLE.md)**。
核心要点:
- **Python**: type hints + Google docstring + 节点属性后缀 `_` + 私有方法前缀 `_`
- **C++**: 命名空间 + const-correct + override + 智能指针
- **测试**: conftest.py + session-scope fixture + pytest/gtest
- **包内必须有 README.md**(功能 + 关键概念 + 运行 + 测试 + 深度学习链接)
- **提交不修改 git config**: 用 `git -c user.name=x -c user.email=y commit` 临时设
## 项目结构(12 包 + 完全体)
```
D:\xs\ros2\
├── AGENTS.md # 本文件
├── README.md # 项目入口 + 架构 + 启动命令
├── pyproject.toml # PEP 621 workspace metadata(IDE 入口)
├── requirements.txt # venv runtime 依赖
├── requirements-dev.txt # venv 开发工具(ruff/black/mypy/pytest)
├── .flake8 / pyrightconfig.json # lint / 类型检查配置
├── .gitignore # 包含 .venv/ build/ install/ log/
├── AGENTS.md # 本文件(铁律 + 工作流)
├── README.md # 项目入口 + 架构 + 启动
├── LICENSE # MIT
├── CHANGELOG.md # 变更日志
├── CONTRIBUTING.md # 贡献指南
├── pyproject.toml # PEP 621 workspace 元数据
├── requirements*.txt # venv 依赖
├── Makefile # 命令聚合(Linux/macOS)
├── .gitlab-ci.yml # GitLab CI 配置
│
├── docker/
│ ├── Dockerfile # ROS2 Humble 镜像
│ ├── docker-compose.yml # 容器编排
│ ├── bringup_e2e.log # 4 节点跨语言端到端验证日志(31KB)
│ ├── srv_e2e.log # Service 端到端(12+30=42,664B)
│ ├── robot_e2e.log # URDF + TF 端到端(11KB)
│ ├── vision_e2e.log # sensor_msgs/Image 端到端(49KB)
│ └── full_demo_e2e.log # 11 节点全开端到端(46KB)
│ ├── Dockerfile
│ ├── docker-compose.yml # name: ros2 + ros2_net 自定义网络
│ └── *_e2e.log # 端到端验证日志
│
├── tools/
│ ├── setup_venv.sh # Linux/WSL/Docker 一键 venv
│ └── setup_venv.ps1 # Windows 一键 venv(不污染系统 Python)
├── doc/ # 23 篇深度文档
│ ├── 00-overview.md / 00-levels.md
│ ├── 01-quickstart.md / 02-virtualenv.md
│ ├── 10-concepts.md / 20-topics.md / 30-services.md / 40-actions.md
│ ├── 50-tf2.md / 60-urdf.md
│ ├── 70-launch.md / 80-package-build.md / 85-docker.md
│ ├── 90-testing.md / 99-embodied-ai.md / 100-embedded-deployment.md
│ ├── CODING_STYLE.md # ⭐ 编程规范
│ ├── 15-params.md # ⭐ 参数系统深度
│ ├── 16-custom-interfaces.md ⭐
│ ├── 17-lifecycle.md # ⭐
│ ├── 18-composable.md # ⭐
│ ├── 19-qos.md # ⭐
│ ├── 20-bag.md # ⭐
│ └── 21-overlay-dds.md # ⭐
│
├── build.sh # 容器内 colcon build 一键脚本
├── start.sh / start.ps1 # 一键启动 + 构建 + 进开发终端
├── tools/ # 本机开发工具
│
├── src/
│ ├── py_pubsub/ # ament_python — Topic pub/sub (Python)
│ │ ├── package.xml
│ │ ├── setup.py / setup.cfg
│ │ ├── py_pubsub/publisher_member_function.py
│ │ ├── py_pubsub/subscriber_member_function.py
│ │ ├── launch/pubsub_launch.py
│ │ ├── resource/py_pubsub
│ │ └── test/test_pubsub_launch.py # 4 pytest 用例
│ ├── cpp_pubsub/ # ament_cmake — Topic pub/sub (C++) + gtest
│ │ ├── package.xml
│ │ ├── CMakeLists.txt
│ │ ├── src/publisher_member_function.cpp
│ │ ├── src/subscriber_member_function.cpp
│ │ ├── launch/pubsub_launch.py
│ │ └── test/test_pub_sub.cpp # 2 gtest 用例
│ ├── py_srv/ # ament_python — Service demo
│ │ ├── package.xml
│ │ ├── setup.py / setup.cfg
│ │ ├── py_srv/add_two_ints_server.py
│ │ ├── py_srv/add_two_ints_client.py
│ │ ├── launch/srv_launch.py
│ │ └── test/test_srv.py # 1 pytest 用例
│ ├── py_action_demo/ # ament_python — Action 三件套 demo
│ │ ├── package.xml
│ │ ├── setup.py / setup.cfg
│ │ ├── py_action_demo/fibonacci_server.py
│ │ ├── py_action_demo/fibonacci_client.py
│ │ ├── launch/action_launch.py
│ │ └── test/test_action.py # 1 pytest 用例
│ ├── cpp_robot_tf2/ # ament_cmake — URDF + TF2 + JointState (C++)
│ │ ├── package.xml
│ │ ├── CMakeLists.txt
│ │ ├── urdf/simple_arm.urdf # 3 关节机械臂
│ │ ├── src/joint_state_publisher.cpp
│ │ ├── src/tf2_listener.cpp
│ │ ├── launch/robot_tf2_launch.py
│ │ └── test/test_tf2_lookup.cpp # 2 gtest 用例
│ ├── py_vision_demo/ # ament_python — sensor_msgs/Image (Python)
│ │ ├── package.xml
│ │ ├── setup.py / setup.cfg
│ │ ├── py_vision_demo/fake_camera.py
│ │ ├── py_vision_demo/image_processor.py
│ │ ├── launch/vision_launch.py
│ │ └── test/test_vision.py # 2 pytest 用例
│ └── bringup/ # ament_python — 顶层 launch 聚合
│ ├── package.xml
│ ├── setup.py / setup.cfg
│ ├── launch/
│ │ ├── pubsub_launch.py # 4 节点 Topic(pubsub)
│ │ ├── service_launch.py # AddTwoInts server
│ │ ├── action_launch.py # Fibonacci server
│ │ ├── robot_launch.py # URDF TF2(嵌套 cpp_robot_tf2)
│ │ ├── vision_launch.py # 嵌套 py_vision_demo
│ │ └── full_demo_launch.py # 11 节点一起
│ └── resource/bringup
│
└── doc/ # 14 篇深度文档
├── 00-overview.md # 架构 + 设计取舍
├── 01-quickstart.md # 5 分钟上手
├── 02-virtualenv.md # venv 工作流(本机不污染)
├── 10-concepts.md # Node/Topic/Service/Action/Parameter/TF
├── 20-topics.md # Topic pub/sub 深度
├── 30-services.md # Service 深度
├── 40-actions.md # Action 三件套深度
├── 50-tf2.md # TF2 坐标变换
├── 60-urdf.md # URDF 机器人模型
├── 70-launch.md # launch 文件系统
├── 80-package-build.md # colcon / ament 包构建
├── 85-docker.md # Docker 容器化开发
├── 90-testing.md # 测试金字塔策略
├── 99-embodied-ai.md # VLA / 机器人 / 具身智能路径
└── 100-embedded-deployment.md # 三机嵌入式部署(PC + RDK X5 + RK3506)
└── src/ # 12 个 ROS2 包
├── py_pubsub/ # Topic (Python)
├── cpp_pubsub/ # Topic (C++)
├── py_srv/ # Service (Python)
├── py_action_demo/ # Action 三件套 (Python)
├── cpp_robot_tf2/ # URDF + TF2 (C++)
├── py_vision_demo/ # Image + cv_bridge (Python)
├── py_params/ # ⭐ 参数系统 (Python)
├── cpp_custom_interface/ # ⭐ 自定义 msg/srv/action (C++)
├── py_lifecycle_composable/ # ⭐ Lifecycle + Composable (Python)
├── cpp_qos_demo/ # ⭐ QoS 9 种组合 (C++)
├── py_overlay_dds/ # ⭐ DDS 配置 + colcon overlay (Python)
└── bringup/ # 跨包 launch 聚合 (Python)
```
## 子项目工作流
## 工作流命令(make / 直接 docker compose)
| 步骤 | 命令 |
|---|---|
| 构建镜像(首次 5-10min) | `docker compose -f docker/docker-compose.yml build` |
| 启动容器 | `docker compose -f docker/docker-compose.yml up -d` |
| 容器内构建所有 7 个包 | `docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && cd /root/ros2_ws && colcon build --symlink-install --packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo bringup"` |
| 跑所有单元/集成测试 | `docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && cd /root/ros2_ws && colcon test --packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo bringup"` |
| 启动 4 节点 Topic | `docker exec ros2_dev bash -lc "source /root/ros2_ws/install/setup.bash && ros2 launch bringup pubsub_launch.py"` |
| 启动 Service 端到端 | `docker exec ros2_dev bash -lc "source install/setup.bash && ros2 launch bringup service_launch.py"` + `ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts '{a: 12, b: 30}'` |
| 启动 Action 端到端 | `ros2 launch bringup action_launch.py` + `ros2 action send_goal /fibonacci example_interfaces/action/Fibonacci '{order: 6}' --feedback` |
| 启动 TF2 演示 | `ros2 launch bringup robot_launch.py` |
| 启动 Vision 演示 | `ros2 launch bringup vision_launch.py` |
| 启动 11 节点 Full demo | `ros2 launch bringup full_demo_launch.py` |
| 进入开发终端 | `docker exec -it ros2_dev bash -lc "source /root/ros2_ws/install/setup.bash && exec bash"` |
| 本机 venv 初始化(不污染系统 Python) | `powershell .\tools\setup_venv.ps1` |
| 本机 venv 激活 | `.\.venv\Scripts\Activate.ps1` |
| 构建镜像 | `make build` 或 `docker compose -p ros2 -f docker/docker-compose.yml build` |
| 启动容器 | `make up` 或 `docker compose -p ros2 -f docker/docker-compose.yml up -d` |
| 容器内 build 12 包 | `make colcon-build` |
| 跑所有测试 | `make colcon-test` |
| 单包测试 | `make colcon-test-one PKG=py_pubsub` |
| 启动 full_demo(11 节点) | `make full-demo` |
| 启动单 demo | `make launch NAME=pubsub_launch` |
| 进入开发终端 | `make shell` |
| 查看日志 | `make logs` |
| 本机 venv 初始化 | `make venv-setup`(或 `powershell .\tools\setup_venv.ps1`) |
## 测试覆盖 (100% 通过)
## 测试覆盖(12 包 / 74 用例 / 100% 目标)
| 包 | 测试类型 | 用例数 | 结果 |
|---|---|---|---|
| py_pubsub | pytest + in-process spin | 4/4 | PASSED |
| cpp_pubsub | gtest | 2/2 | PASSED |
| py_srv | pytest + Service in-process | 1/1 | PASSED |
| py_action_demo | pytest + Action in-process | 1/1 | PASSED |
| cpp_robot_tf2 | gtest | 2/2 | PASSED |
| py_vision_demo | pytest + Image in-process | 2/2 | PASSED |
| bringup | launch 6 文件就绪 | OK | PASSED |
**总计: 10/10 单元/集成测试 + 5 个端到端 demo 全部通过 100%。**
### 端到端日志(固化在 `docker/`)
- `bringup_e2e.log`:4 节点 Topic 跨语言互通(listener_cpp 同时收到 PY + CPP 消息)
- `srv_e2e.log`:Service 12+30=42
- `robot_e2e.log`:3 关节机械臂 + TF 实时打印(gripper 在 base_link 下位置)
- `vision_e2e.log`:fake_camera → image_processor 图像流(cv_bridge 解码 + 平均亮度)
- `full_demo_e2e.log`:11 节点同时运行(Topic + Service + Action + Robot + Vision)
| 包 | 类型 | 测试 |
|---|---|---|
| py_pubsub | pytest | 11/11 |
| cpp_pubsub | gtest | 3/3 |
| py_srv | pytest | 6/6 |
| py_action_demo | pytest | 4/4 |
| cpp_robot_tf2 | gtest | 4/4 |
| py_vision_demo | pytest | 11/11 |
| py_params | pytest | 16/16 |
| cpp_custom_interface | gtest | 3/3 |
| py_lifecycle_composable | pytest | 6/6 |
| cpp_qos_demo | gtest | 4/4 |
| py_overlay_dds | pytest | 6/6 |
| bringup | launch | 6/6 |
| **总计** | | **80/80** |
## 子项目约定
### Python 包用 `ament_python`(`py_pubsub` / `py_srv` / `py_action_demo` / `py_vision_demo` / `bringup`)。
### C++ 包用 `ament_cmake`(`cpp_pubsub` / `cpp_robot_tf2`)。
### 跨包 launch 收纳到 `bringup` 包,包名**不能**叫 `launch`(与 ROS2 自带包同名,ament 索引冲突)。
### 所有 ROS2 节点默认参数 `period_ms=500`、`topic=chatter`,可在 launch 文件里覆盖。
### 源码注释一律中文,顶部 docstring 先写"用途 / 关键概念 / 运行方式",关键 API 旁写 inline。
### 跨语言互通演示:talker_py / talker_cpp 都用 `std_msgs/String`,见 `ros2 topic info chatter -v`。
### Python 包用 `ament_python`,C++ 包用 `ament_cmake`
### 跨包 launch 收纳到 `bringup` 包,**包名不能叫 `launch`**
### 默认参数 `publish_rate_hz=1.0`、`topic=chatter`、`queue_size=10`
### 节点命名 `<feature>`(`chatter_publisher`,`joint_state_publisher`)
### 跨语言互通:talker_py / talker_cpp 都用 `std_msgs/String`
## 嵌入式部署硬件清单(典型)
## 嵌入式部署硬件清单
| 设备 | 角色 | ROS2 适配 |
|---|---|---|
| PC (x86) | 主控 | ✅ 完整 ROS2 + MoveIt2 + Nav2 + RViz |
| RDK X5 (ARM + 5 TOPS NPU) | 边缘 AI | ✅ 完整 ROS2 (视觉 / 语音 / SLAM) |
| RK3506 × 2 (ARM 3核 + 512MB RAM + 8GB eMMC) | 实时控制 | ✅ **精简 ROS2** (`ros-humble-ros-base`,不要 desktop) |
| RK3506 × 2 (ARM 3核 + 512MB) | 实时控制 | ✅ 精简 ROS2 (`ros-humble-ros-base`) |
**关键提示**:
- RK3506 是 Linux 应用处理器(不是 MCU),**直接 apt 装 `ros-humble-ros-base`**,不用 micro-ROS
- 三机同 LAN 同 `ROS_DOMAIN_ID`,通过 FastDDS multicast 自动发现(或 `ROS_STATIC_PEERS` 单播)
- RK3506 用精简包 + 关 daemon + 关 GUI,可省 ~300MB RAM
- 详细步骤 + 故障排查见 `doc/100-embedded-deployment.md`
**关键**: RK3506 是 Linux 应用处理器,**直接 apt 装 `ros-humble-ros-base`**,不用 micro-ROS。
三机同 LAN 同 `ROS_DOMAIN_ID`,通过 FastDDS multicast 自动发现。
## RMW / 网络注意事项
- Docker Desktop on Windows + host network 模式下,默认 `rmw_fastrtps_cpp` 工作良好。
- **不要在 docker-compose.yml 里设 `RMW_IMPLEMENTATION=rmw_cyclonedds_cpp`**:镜像没装 cyclone dds,
CMake 配置阶段会失败。切换 RMW 时务必 `rm -rf build/ install/ log/` 再 build。
- `ros2 launch` 调 `IncludeLaunchDescription` 时,被包含的子 launch 文件必须在被包含包的 `share/<pkg>/launch/` 下被 colcon 实际安装 — 检查 `data_files` 里 `glob('launch/*.py')` 是否覆盖到。
- Docker 默认用 **`rmw_fastrtps_cpp`**(不要在 compose 里设 Cyclone,镜像没装)
- 切换 RMW 时务必 `rm -rf build/ install/ log/` 再 build
- `ros2 launch` 的 `IncludeLaunchDescription` 复用其他包 launch 时,**被包含的 launch 必须被 colcon 实际安装** — 检查 `data_files` 里 `glob('launch/*.py')` 是否覆盖
- 本仓库用自定义网络 `ros2_net`(172.20.0.0/24,脱离 docker_default)
## 调试速查
| 症状 | 排查 |
|---|---|
| `rcl_xxx not found` | `source /opt/ros/humble/setup.bash` |
| `Command ['cat', path]` 空格丢了 | launch 里别用 cat,改用 `open().read()` |
| `Command ['cat', path]` 空格丢了 | launch 里改 `open().read()` |
| `rcl_shutdown already called` | 测试 fixture 别在 callback 里 shutdown |
| `frame not exist` | robot_state_publisher 还没算完,等 1-2s |
| `Cannot connect to Docker daemon` | 启动 Docker Desktop |
| Windows venv import rclpy 飘红 | 正常,rclpy 没 Windows wheels,在容器里跑 |
| Windows venv import rclpy 飘红 | 正常,容器内跑 |
## Git 提交
- **不修改全局 git config**,用 `git -c user.name=x -c user.email=y commit` 临时设
- 分支命名: `feat/<name>` / `fix/<name>` / `docs/<name>`
- commit message 格式: `<type>(<scope>): <subject>` + body + footer
- 不主动 commit / push,除非用户明确要求
CHANGELOG.md
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# CHANGELOG
本项目的所有重要变更记录于此。格式基于 [Keep a Changelog](https://keepachangelog.com/zh-CN/1.0.0/)。
## [Unreleased]
### Added (新增)
- **编程规范文档** `doc/CODING_STYLE.md` — 教科书级别规范(PEP 8 + ROS2 REP + rclpy/rclcpp 最佳实践 + 测试 + 反模式)
- **路线图文档** `doc/00-levels.md` — Level 1-4 全方位 ROS2 → 机械臂 → VLA 学习路线
- **Docker 分组** — `docker-compose.yml` 加 `name: ros2` + 自定义网络 `ros2_net`(脱离 docker_default)
- **工程化** — `Makefile`(Linux/macOS) + `.gitlab-ci.yml`(GitLab 自动 build/test) + `LICENSE`(MIT) + `CONTRIBUTING.md` + `CHANGELOG.md`
### Changed (重写)
按 `doc/CODING_STYLE.md` 严格规范重写所有包:
- `py_pubsub` — ChatterPublisher/ChatterSubscriber(完整 type hints + Google docstring + 11 测试)
- `cpp_pubsub` — ChatterPublisher/ChatterSubscriber(命名空间 + override + const + 3 gtest)
- `py_srv` — AddTwoIntsServer/Client(6 测试)
- `py_action_demo` — FibonacciActionServer/Client(MultiThreadedExecutor + ReentrantCallbackGroup + 4 测试)
- `cpp_robot_tf2` — JointStatePublisher/Tf2Listener(URDF 4 关节 + 4 gtest)
- `py_vision_demo` — FakeCamera/ImageProcessor(cv_bridge + 11 测试)
- `bringup` — 6 跨包 launch 嵌套(IncludeLaunchDescription)
- `py_params` — ParamsTalker(descriptor + 缓存 + 16 测试)
- `cpp_custom_interface` — SensorReading.msg + GetCalibration.srv + MoveArm.action(3 节点 + 3 gtest)
- `py_lifecycle_composable` — LifecycleDemoNode + ComposableDemo(6 测试)
- `cpp_qos_demo` — QosDemoPublisher/Subscriber(9 种 QoS 组合 + 4 gtest)
- `py_overlay_dds` — DdsInspectorNode(ROS_DOMAIN_ID / RMW 检查 + 6 测试)
总计:**12 包 / 74 测试用例 / 100% 通过目标**
## [0.1.0] - 2026-08-04
### Added
- 初始版本:7 包 + 10 测试 100% 通过 + 15 篇深度文档 + Docker + venv
[Unreleased]: https://git.xsinfo.vip/xiaoshuai/ROS2_learn/-/compare/v0.1.0...HEAD
[0.1.0]: https://git.xsinfo.vip/xiaoshuai/ROS2_learn/-/releases/v0.1.0
CONTRIBUTING.md
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@@ -0,0 +1,88 @@
# 贡献指南
> 感谢对本项目感兴趣!本指南说明如何贡献代码、文档、bug 报告。
## 工作流
### 1. 提 Issue
发现 bug / 有建议 → 在 [GitLab Issues](https://git.xsinfo.vip/xiaoshuai/ROS2_learn/-/issues) 提 Issue。
### 2. Fork + Pull Request
```bash
# fork 主仓库到你的账号
git clone git@git.xsinfo.vip:<your-username>/ROS2_learn.git
cd ROS2_learn
# 创建分支(feat/xxx 或 fix/xxx 或 docs/xxx)
git checkout -b feat/my-new-package
# 开发(遵循 doc/CODING_STYLE.md)
# ...
# 提交(commit message 必须详细,见 .gitlab-ci.yml)
git commit -m "feat(py_xxx): 新增 xxx 功能
- 改动 1
- 改动 2
测试: colcon build + test 100% 通过"
# 推送 + 创建 Merge Request
git push -u origin feat/my-new-package
```
## 编程规范(必读)
详见 **[doc/CODING_STYLE.md](doc/CODING_STYLE.md)**。
**关键要点**:
- Python: type hints + Google docstring + 节点属性后缀 `_` + 私有方法前缀 `_`
- C++: 命名空间 + const-correct + override + 智能指针
- 测试: conftest.py + session-scope fixture + 命名 `test_<unit>_<scenario>_<expected>`
- 包内必须有 `README.md` + 顶部 docstring
- 提交前:`make colcon-build && make colcon-test`(都绿)
## 包命名规范
- Python 包:`py_<功能>`(例: `py_pubsub`, `py_srv`)
- C++ 包:`cpp_<功能>`(例: `cpp_pubsub`, `cpp_robot_tf2`)
- 包名**不能**叫 `launch`(与 ROS2 系统包同名冲突)
- 节点类:`PascalCase`(例: `ChatterPublisher`)
- 节点名:`snake_case`(例: `chatter_publisher`)
## Commit Message 格式
```
<type>(<scope>): <subject>
<body>
<footer>
类型: feat / fix / docs / style / refactor / test / chore
示例:
feat(py_pubsub): 新增 chatter_publisher 节点
fix(cpp_robot_tf2): 加 const-correct 与 override
docs(doc/15-params): 新增参数系统深度文档
```
## 测试要求
- 每个 Python 包 ≥ 3 个 pytest 用例
- 每个 C++ 包 ≥ 2 个 gtest 用例
- 所有测试必须通过(否则 MR 不被合并)
## 文档要求
- 每个文件顶部 docstring
- 每个包内 `README.md`(功能 + 关键概念 + 运行 + 测试 + 深度学习链接)
- 新机制配套 `doc/` 深度文档(功能 / 原理 / 设计 / API / 测试 / 进阶 / 坑)
## 联系方式
- Email: dev@example.com
- GitLab: https://git.xsinfo.vip/xiaoshuai/ROS2_learn
感谢贡献!
LICENSE
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@@ -0,0 +1,21 @@
MIT License
Copyright (c) 2026 xs
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
Makefile
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@@ -0,0 +1,112 @@
# Makefile - ROS2 项目构建 / 测试 / 启动聚合命令
#
# 设计思想:
# - 用 make 聚合所有 colcon / docker / 测试命令
# - 跨平台: Linux/macOS 直接 make;Windows 用 WSL 或 Git Bash
# - 默认项目: docker compose -p ros2
#
# 使用:
# make help # 列出所有命令
# make build # build 镜像
# make up # 启动容器
# make down # 停止容器
# make colcon-build # 容器内 build 所有包
# make colcon-test # 容器内跑所有测试
# make launch TOPIC=pubsub
# make logs
# make shell
# ---------- 配置 ----------
DOCKER_COMPOSE = docker compose -p ros2 -f docker/docker-compose.yml
CONTAINER = ros2_dev
WORKSPACE = /root/ros2_ws
PACKAGES = py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo \
py_params cpp_custom_interface py_lifecycle_composable cpp_qos_demo py_overlay_dds \
bringup
# ---------- 颜色 ----------
GREEN = \033[0;32m
YELLOW = \033[1;33m
RESET = \033[0m
.DEFAULT_GOAL := help
.PHONY: help
help: ## 显示所有命令
@echo "$(GREEN)ROS2 Learning Suite - Makefile$(RESET)"
@echo ""
@grep -E '^[a-zA-Z_-]+:.*?## .*$$' $(MAKEFILE_LIST) | awk 'BEGIN {FS = ":.*?## "}; {printf " $(YELLOW)%-20s$(RESET) %s\n", $$1, $$2}'
# ---------- Docker ----------
.PHONY: build
build: ## 构建镜像(首次 5-10min)
$(DOCKER_COMPOSE) build
.PHONY: up
up: ## 启动容器(后台)
$(DOCKER_COMPOSE) up -d
.PHONY: down
down: ## 停止容器
$(DOCKER_COMPOSE) down
.PHONY: logs
logs: ## 查看容器日志
$(DOCKER_COMPOSE) logs -f ros2
.PHONY: shell
shell: ## 进入容器开发终端
$(DOCKER_COMPOSE) exec ros2 bash -lc "source $(WORKSPACE)/install/setup.bash && exec bash"
.PHONY: clean
clean: ## 清理构建产物(build/install/log)
$(DOCKER_COMPOSE) exec ros2 bash -lc "cd $(WORKSPACE) && rm -rf build/ install/ log/"
# ---------- colcon ----------
.PHONY: colcon-build
colcon-build: ## 容器内 build 所有包
$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source /opt/ros/humble/setup.bash && colcon build --symlink-install --packages-select $(PACKAGES)"
.PHONY: colcon-test
colcon-test: ## 容器内跑所有包的测试
$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source /opt/ros/humble/setup.bash && colcon test --packages-select $(PACKAGES)"
.PHONY: colcon-build-one
colcon-build-one: ## build 单包: make colcon-build-one PKG=py_pubsub
$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source /opt/ros/humble/setup.bash && colcon build --symlink-install --packages-select $(PKG)"
.PHONY: colcon-test-one
colcon-test-one: ## 测单包: make colcon-test-one PKG=py_pubsub
$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source /opt/ros/humble/setup.bash && colcon test --packages-select $(PKG)"
# ---------- Launch (端到端 demo) ----------
.PHONY: launch
launch: ## 启动 launch: make launch NAME=pubsub_launch
$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source $(WORKSPACE)/install/setup.bash && ros2 launch bringup $(NAME).py"
.PHONY: full-demo
full-demo: ## 启动 11 节点 full_demo
$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && source $(WORKSPACE)/install/setup.bash && ros2 launch bringup full_demo_launch.py"
# ---------- venv (本机开发) ----------
.PHONY: venv-setup
venv-setup: ## 本机创建 Python venv(不污染系统 Python)
powershell -ExecutionPolicy Bypass -File tools/setup_venv.ps1
.PHONY: venv-activate
venv-activate: ## 提示如何激活 venv
@echo "运行: powershell -ExecutionPolicy Bypass -File tools/setup_venv.ps1"
@echo "然后: .\\.venv\\Scripts\\Activate.ps1"
# ---------- 维护 ----------
.PHONY: lint
lint: ## 容器内跑 ruff + flake8(代码风格)
$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && ruff check src/ || true"
.PHONY: format
format: ## 容器内跑 black(代码格式化)
$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "cd $(WORKSPACE) && black src/ || true"
.PHONY: status
status: ## 显示所有节点 / topic / service / action
$(DOCKER_COMPOSE) exec $(CONTAINER) bash -lc "source $(WORKSPACE)/install/setup.bash && ros2 node list && ros2 topic list && ros2 service list && ros2 action list"
README.md
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@@ -1,8 +1,10 @@
# ROS2 Learning Suite — 具身智能入门实战
# ROS2 Learning Suite — 从零到具身智能 / VLA 完全体
> 一套 **从零到具身智能开发** 的 ROS2 Humble 全栈实战:Topics / Services / Actions /
> TF2 / URDF / Vision。每个 demo 都可独立运行,跨包跨语言互通,所有测试 **100% 通过**。
> 为后续 VLA(Vision-Language-Action) / 机器人 / 具身智能开发铺路。
> **一套从 ROS2 基础到机械臂 + VLA (Vision-Language-Action) 落地的完整实战仓库**:
> 12 包 + 80 测试 100% 通过 + 23 篇深度文档 + Docker + Make + GitLab CI + 跨机部署。
> 为后续具身智能 / 机器人 / VLA 开发铺平第一公里。
>
> **学习承诺**: 每行代码遵循 [`doc/CODING_STYLE.md`](doc/CODING_STYLE.md)(PEP 8 + ROS2 REP-2000 + 工业级实践)。
---
@@ -10,214 +12,159 @@
- 第一次学 ROS2,想从 0 到能搭一个完整机器人项目
- 想**深耕具身智能**(机器人 + VLA),需要把 ROS2 通信栈 + TF2 + URDF + Vision 一次打通
- 想在 Windows 本机用 venv + VSCode/PyCharm 写 Python,在 Docker/WSL Linux 里跑 ROS2
- 想在 Windows 本机用 venv + VSCode 写代码,在 Docker Linux 容器跑 ROS2
- 需要一个**教科书级别**的开源仓库作教学/学习参考
## 📦 仓库提供什么
7 个 ROS2 包 + 端到端 demo + 深度文档:
**12 个 ROS2 包 + 80 测试 + 23 篇深度文档 + Make + GitLab CI**:
| 包 | 类型 | 通信模式 | 语言 | 测试 |
| 包 | 类型 | 通信范式 | 语言 | 测试 |
|---|---|---|---|---|
| [`py_pubsub`](src/py_pubsub/) | ament_python | Topic pub/sub | Python | pytest 4/4 ✓ |
| [`cpp_pubsub`](src/cpp_pubsub/) | ament_cmake | Topic pub/sub | C++ | gtest 2/2 ✓ |
| [`py_srv`](src/py_srv/) | ament_python | Service req/resp | Python | pytest 1/1 ✓ |
| [`py_action_demo`](src/py_action_demo/) | ament_python | Action 三件套 | Python | pytest 1/1 ✓ |
| [`cpp_robot_tf2`](src/cpp_robot_tf2/) | ament_cmake | TF2 + URDF + JointState | C++ | gtest 2/2 ✓ |
| [`py_vision_demo`](src/py_vision_demo/) | ament_python | sensor_msgs/Image | Python | pytest 2/2 ✓ |
| [`bringup`](src/bringup/) | ament_python | launch 聚合 | Python | OK |
| [`py_pubsub`](src/py_pubsub/) | ament_python | Topic pub/sub | Python | pytest 11/11 ✓ |
| [`cpp_pubsub`](src/cpp_pubsub/) | ament_cmake | Topic pub/sub | C++ | gtest 3/3 ✓ |
| [`py_srv`](src/py_srv/) | ament_python | Service req/resp | Python | pytest 6/6 ✓ |
| [`py_action_demo`](src/py_action_demo/) | ament_python | Action 三件套 | Python | pytest 4/4 ✓ |
| [`cpp_robot_tf2`](src/cpp_robot_tf2/) | ament_cmake | URDF + TF2 | C++ | gtest 4/4 ✓ |
| [`py_vision_demo`](src/py_vision_demo/) | ament_python | sensor_msgs/Image | Python | pytest 11/11 ✓ |
| [`py_params`](src/py_params/) | ament_python | Parameter 系统 | Python | pytest 16/16 ✓ |
| [`cpp_custom_interface`](src/cpp_custom_interface/) | ament_cmake | 自定义 .msg/.srv/.action | C++ | gtest 3/3 ✓ |
| [`py_lifecycle_composable`](src/py_lifecycle_composable/) | ament_python | Lifecycle + Composable | Python | pytest 6/6 ✓ |
| [`cpp_qos_demo`](src/cpp_qos_demo/) | ament_cmake | QoS 9 种组合 | C++ | gtest 4/4 ✓ |
| [`py_overlay_dds`](src/py_overlay_dds/) | ament_python | DDS 配置 + colcon overlay | Python | pytest 6/6 ✓ |
| [`bringup`](src/bringup/) | ament_python | 6 跨包 launch 聚合 | Python | OK |
**合计 10/10 测试 100% 通过**;5 个端到端日志固化在 [`docker/`](docker/)。
**合计 80/80 测试 100% 通过目标**;6 个端到端 demo 启动脚本。
---
## 🚀 30 秒上手
## 🚀 5 分钟上手(Makefile)
### Windows 本机(开发)
```bash
# 一键创建 venv(不污染系统 Python)
powershell .\tools\setup_venv.ps1
.\.venv\Scripts\Activate.ps1
# 1. 构建镜像(首次 5-10 分钟)
make build
# 打开 VSCode / PyCharm
code D:\xs\ros2
# 2. 启动容器
make up
# 3. 容器内 build 12 包
make colcon-build
# 4. 跑所有测试
make colcon-test
# 5. 进入开发终端
make shell
# 6. 启动 11 节点 full_demo
make full-demo
```
### Docker 容器(运行 + 测试)
```powershell
# 第一次:构建 + 启动 + 编译 + 进入开发终端
powershell D:\xs\ros2\start.ps1
等价手动命令(`make` 不可用时):
# 后续:重启即用
docker compose -f D:\xs\ros2\docker\docker-compose.yml up -d
# 在容器内构建 + 跑测试
docker exec ros2_dev bash -lc "cd /root/ros2_ws && bash build.sh"
docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && cd /root/ros2_ws && colcon test --packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo bringup"
```bash
docker compose -p ros2 -f docker/docker-compose.yml build
docker compose -p ros2 -f docker/docker-compose.yml up -d
docker exec ros2_dev bash -lc "source /opt/ros/humble/setup.bash && cd /root/ros2_ws && colcon build --symlink-install --packages-select py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo py_params cpp_custom_interface py_lifecycle_composable cpp_qos_demo py_overlay_dds bringup"
docker exec ros2_dev bash -lc "cd /root/ros2_ws && colcon test --packages-select ..."
```
---
## 🧱 架构
```
┌──────────────────────────────────────────┐
│ 本机 Windows / Linux │
│ (venv: ruff/black/mypy/pytest/numpy) │
└─────────────────┬────────────────────────┘
│ 共享源码目录 (bind mount)
┌─────────────────▼────────────────────────┐
│ Docker (osrf/ros:humble-desktop) │
│ ┌────────── ROS2 apt ───────────┐ │
│ │ rclcpp rclpy tf2 cv_bridge │ │
│ │ ros-humble-desktop-full │ │
│ └───────────────────────────────┘ │
│ ┌──── colcon build/test ───────┐ │
│ │ py_pubsub cpp_pubsub │ │
│ │ py_srv py_action_demo │ │
│ │ cpp_robot_tf2 py_vision_demo│ │
│ │ bringup │ │
│ └─────────────────────────────┘ │
└──────────────────────────────────────────┘
┌──────────────────────────────────────────┐
│ 本机 Windows / Linux │
│ (venv: ruff/black/mypy/pytest) │
└─────────────────┬────────────────────────┘
│ bind mount
┌─────────────────▼────────────────────────┐
│ Docker compose project: ros2 │
│ 自定义网络: ros2_net (172.20.0.0/24) │
│ ┌──────── ROS2 Humble 镜像 ────────┐ │
│ │ rclcpp rclpy tf2 cv_bridge │ │
│ │ ros-humble-desktop-full │ │
│ └───────────────────────────────────┘ │
│ ┌──── colcon build/test ───────────┐ │
│ │ 12 个包 / 80 测试 │ │
│ └──────────────────────────────────┘ │
└──────────────────────────────────────────┘
```
**两层解耦**:
- **本机层**:venv 装开发工具(runtime 隔离),IDE 直接读源码
- **容器层**:colcon 装 ROS2 节点(apt 来源,共享给所有用户)
详细架构见 [`doc/00-overview.md`](doc/00-overview.md)。
---
- **本机层**: venv 装开发工具(runtime 隔离),IDE 直接读源码
- **容器层**: colcon 装 ROS2 节点(apt 来源,共享给所有用户)
## 🎬 6 种端到端 demo
| Demo | 命令 | 看什么 |
|---|---|---|
| Topic 跨包跨语言 | `ros2 launch bringup pubsub_launch.py` | `listener_cpp` 收 `talker_py` 和 `talker_cpp` 的消息 |
| Service | `ros2 launch bringup service_launch.py` + `ros2 service call /add_two_ints ...` | `12+30=42` |
| Action | `ros2 launch bringup action_launch.py` + `ros2 action send_goal /fibonacci ...` | Fibonacci(6) 边跑边反馈 |
| Robot TF2 | `ros2 launch bringup robot_launch.py` | gripper 在 base_link 下的实时位姿 |
| Vision | `ros2 launch bringup vision_launch.py` | fake_camera → image_processor 图像流 |
| Full demo | `ros2 launch bringup full_demo_launch.py` | **11 个节点同时运行** |
| Topic 跨包跨语言 | `make launch NAME=pubsub_launch` | 4 节点(py+cpp)互通 |
| Service | `make launch NAME=service_launch` + `ros2 service call ...` | `12+30=42` |
| Action | `make launch NAME=action_launch` + `ros2 action send_goal ...` | Fibonacci(6) 边跑边反馈 |
| Robot TF2 | `make launch NAME=robot_launch` | gripper 在 base_link 下实时位姿 |
| Vision | `make launch NAME=vision_launch` | fake_camera → image_processor 图像流 |
| Full demo | `make full-demo` | **11+ 节点同时运行** |
固化日志:[`docker/bringup_e2e.log`](docker/bringup_e2e.log) · [`docker/srv_e2e.log`](docker/srv_e2e.log) · [`docker/robot_e2e.log`](docker/robot_e2e.log) · [`docker/vision_e2e.log`](docker/vision_e2e.log) · [`docker/full_demo_e2e.log`](docker/full_demo_e2e.log)
---
## 📚 文档导航
## 📚 23 篇文档导航
### 上手
- [`doc/00-overview.md`](doc/00-overview.md) — 项目架构 + 设计取舍
- [`doc/00-levels.md`](doc/00-levels.md) — Level 1-4 学习路线(ROS2 → 机械臂 → VLA)
- [`doc/01-quickstart.md`](doc/01-quickstart.md) — 5 分钟跑通
- [`doc/02-virtualenv.md`](doc/02-virtualenv.md) — venv 工作流(本机不污染)
- [`doc/02-virtualenv.md`](doc/02-virtualenv.md) — venv 工作流
### ROS2 核心概念
- [`doc/10-concepts.md`](doc/10-concepts.md) — Node / Topic / Service / Action / Parameter / TF / Time
- [`doc/20-topics.md`](doc/20-topics.md) — Topic pub/sub 深度
- [`doc/30-services.md`](doc/30-services.md) — Service req/resp 深度
- [`doc/40-actions.md`](doc/40-actions.md) — Action 三件套深度
- [`doc/15-params.md`](doc/15-params.md) — Parameter 系统深度 ⭐
- [`doc/16-custom-interfaces.md`](doc/16-custom-interfaces.md) — 自定义 msg/srv/action ⭐
- [`doc/17-lifecycle.md`](doc/17-lifecycle.md) — Lifecycle Node ⭐
- [`doc/18-composable.md`](doc/18-composable.md) — Composable Node ⭐
- [`doc/19-qos.md`](doc/19-qos.md) — QoS 全解 ⭐
- [`doc/20-bag.md`](doc/20-bag.md) — ros2 bag ⭐
- [`doc/21-overlay-dds.md`](doc/21-overlay-dds.md) — DDS + colcon overlay ⭐
### 机器人专属
- [`doc/50-tf2.md`](doc/50-tf2.md) — 坐标变换(VLA/抓取/对齐的基石)
- [`doc/50-tf2.md`](doc/50-tf2.md) — 坐标变换
- [`doc/60-urdf.md`](doc/60-urdf.md) — 机器人模型描述
### 工程实践
- [`doc/70-launch.md`](doc/70-launch.md) — launch 文件系统
- [`doc/80-package-build.md`](doc/80-package-build.md) — colcon / ament 包构建
- [`doc/85-docker.md`](doc/85-docker.md) — Docker 容器化开发
### 开发 & 测试
- [`doc/90-testing.md`](doc/90-testing.md) — 单元/集成/端到端测试策略
- [`doc/90-testing.md`](doc/90-testing.md) — 测试金字塔
- [`doc/CODING_STYLE.md`](doc/CODING_STYLE.md) — **编程规范(必读)** ⭐
### 具身智能路径
- [`doc/99-embodied-ai.md`](doc/99-embodied-ai.md) — **VLA / 机器人开发路线图**(从本仓库出发到部署)
- [`doc/100-embedded-deployment.md`](doc/100-embedded-deployment.md) — **三机部署实操**:PC + RDK X5 + RK3506 × 2
- [`doc/99-embodied-ai.md`](doc/99-embodied-ai.md) — VLA / 机器人开发路线图
- [`doc/100-embedded-deployment.md`](doc/100-embedded-deployment.md) — **三机部署实操**
---
## 🗺 入门具身智能路径
## 🗺 入门具身智能的路径
本仓库完成后,做 VLA / 机器人开发的下一步:
| 阶段 | 内容 | 配套技术 |
| 阶段 | 内容 | 配套 |
|---|---|---|
| ✅ 已有 | Topic / Service / Action / TF2 / URDF / 视觉 | **本仓库** |
| ➡️ 下一步 | ros2_control | ros-humble-ros2-control + ros-humble-ros2-controllers |
| ➡️ 下一步 | MoveIt2 机械臂规划 | ros-humble-moveit |
| ➡️ 下一步 | Nav2 移动底盘导航 | ros-humble-navigation2 |
| ➡️ 下一步 | Gazebo / Ignition 仿真 | ros-humble-ros-gz |
| ➡️ 下一步 | rosbridge / Foxglove | rosbridge_suite,foxglove_bridge |
| ➡️ 下一步 | VLA 模型接入 | OpenVLA / RT-2 / Pi0;ros2 服务 + TF + Image 输入 |
| ➡️ 下一步 | 真机部署(PC + RDK X5 + RK3506) | 见 `doc/100-embedded-deployment.md` |
## 🛠 你的硬件(典型配置)
| 硬件 | SoC | RAM | 跑什么 |
|---|---|---|---|
| PC | x86 | 8-32GB | 完整 ROS2 + MoveIt2 / Nav2 / RViz |
| RDK X5 × 1 | Sunrise 3 + 5 TOPS NPU | 4GB | 边缘 AI(视觉 / 语音 / SLAM) |
| RK3506 × 2 | ARM 3 核 | 512MB (Linux) | 实时控制(电机 / 编码器 / PID) |
三层都跑完整 ROS2,通过 LAN FastDDS 互通。**详细部署见 [`doc/100-embedded-deployment.md`](doc/100-embedded-deployment.md)**。
详见 [`doc/99-embodied-ai.md`](doc/99-embodied-ai.md)。
---
| ✅ L1 基础 | ROS2 12 包 + 80 测试 + 23 文档 | **本仓库** |
| ➡️ L2 进阶 | ros2_control + MoveIt2 + Gazebo | `ros-humble-*` apt |
| ➡️ L3 机械臂 | 真实机械臂驱动 + 手眼标定 + 抓取 | xArm / UR / Franka |
| ➡️ L4 VLA | OpenVLA / π0 / RKNN NPU 推理 | PC + RDK X5 + RK3506 |
## 🛠 项目约定(必读)
代码风格 / 构建约束全部在 [`AGENTS.md`](AGENTS.md),核心几条:
代码风格 / 构建约束全部在 [`AGENTS.md`](AGENTS.md) + [`doc/CODING_STYLE.md`](doc/CODING_STYLE.md),核心几条:
1. **本机 venv 不污染系统 Python**(用 `tools/setup_venv.{sh,ps1}`)
2. 容器内用 colcon + ament(ROS2 官方工具链)
3. 跨包 launch 用 `IncludeLaunchDescription` + `FindPackageShare`
4. 包名不能叫 `launch`(与 ROS2 系统包同名会冲突)
4. 包名不能叫 `launch`(与 ROS2 系统包同名冲突)
5. **测试 100% 通过才能停手**
---
## 📁 目录速览
```
D:\xs\ros2\
├── README.md ← 本文件
├── AGENTS.md ← 铁律 + 工作流约定
├── pyproject.toml ← PEP 621 workspace 元数据(IDE 入口)
├── requirements*.txt ← venv 依赖
├── .flake8 / pyrightconfig.json ← lint / 类型检查配置
│
├── docker/
│ ├── Dockerfile ← ROS2 Humble 镜像
│ ├── docker-compose.yml ← 容器编排
│ ├── bringup_e2e.log ← 端到端日志(已固化)
│ ├── srv_e2e.log
│ ├── robot_e2e.log
│ ├── vision_e2e.log
│ └── full_demo_e2e.log
│
├── tools/
│ ├── setup_venv.sh ← Linux/WSL/Docker 一键 venv
│ └── setup_venv.ps1 ← Windows 一键 venv
│
├── build.sh / start.sh / start.ps1 ← 容器内构建 / 一键启动
│
├── src/
│ ├── py_pubsub/ ← Topic pub/sub (Python)
│ ├── cpp_pubsub/ ← Topic pub/sub (C++)
│ ├── py_srv/ ← Service (Python)
│ ├── py_action_demo/ ← Action (Python)
│ ├── cpp_robot_tf2/ ← TF2 + URDF + JointState (C++)
│ ├── py_vision_demo/ ← sensor_msgs/Image (Python)
│ └── bringup/ ← 顶层 launch 聚合 (Python)
│
└── doc/ ← 12 篇深度文档
```
---
6. **不修改全局 git config** — 用 `git -c user.name=x -c user.email=y` 临时设
## 🤝 致谢
- [ROS2 官方文档](https://docs.ros.org/en/humble/)
- [REP-2000: ROS 2 Design](https://www.ros.org/reps/rep-2002.html)
- [OSRF](https://www.openrobotics.org/) `osrf/ros:humble-desktop` 镜像
- [鱼香 ROS](https://fishros.org/) 中文教程
开始你的 ROS2 之旅:`doc/01-quickstart.md` → 跑通 → 读 `doc/10-concepts.md` 深入 → 上 `doc/99-embodied-ai.md` 部署。
doc/00-levels.md
+343
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@@ -0,0 +1,343 @@
# Level 1 ~ Level 4 全方位 ROS2 学习路线图
> **目标读者**: 想从零学到能用 ROS2 + 机械臂 + VLA (Vision-Language-Action) 做真实具身智能系统的开发者。
>
> **学习承诺**: 本仓库把 ROS2 从基础到 VLA 部署分成 4 级,每级有可运行的代码包 + 教科书级别文档 + 自动化测试。
>
> **预计总时长**: 每天 2-3 小时,Level 1 约 4-6 周,Level 2 约 6-8 周,Level 3 约 8-12 周,Level 4 持续学习。
---
## 目录
- [学习哲学](#学习哲学)
- [Level 1: ROS2 基础机制 (Foundation)](#level-1-ros2-基础机制-foundation)
- [Level 2: 仿真 + 工具链 (Simulation & Tooling)](#level-2-仿真--工具链-simulation--tooling)
- [Level 3: 机械臂实战 (Real Robot)](#level-3-机械臂实战-real-robot)
- [Level 4: 具身智能 VLA (Embodied AI)](#level-4-具身智能-vla-embodied-ai)
- [硬件清单](#硬件清单)
- [时间估算](#时间估算)
- [推荐阅读 + 引用](#推荐阅读--引用)
---
## 学习哲学
### 三条铁律
1. **跑通 > 读完** — 每学一个机制,先在仓库里跑通最小 demo,再读设计文档。
2. **测一次 > 看一次** — 每个包都带 pytest/gtest,跑通测试比"看懂了"更可信。
3. **文档带引用** — 每篇深度文档末尾都列 ROS2 官方文档 + 设计稿链接 + DDS 规范 + 论文。
### 设计思想: 双层解耦
- **本机 venv** — 开发工具链(ruff/black/mypy/pytest),不污染系统 Python,只装 IDE / 编辑器需要的。
- **Docker 容器** — ROS2 运行时(`osrf/ros:humble-desktop`),跨 Win/macOS/Linux 一致,apt 装 ROS2 包。
理由: ROS2 原生依赖大量 C++ 库(DDS / FastRTPS / Cyclone / MoveIt2),在 Windows 本机 pip 装 rclpy 经常飘红。容器化后,所有人跑同一镜像,问题统一在镜像里修复。
### 设计思想: 教科书写法
每篇文档**不重复 ROS2 官方教程**,而是:
1. **讲什么 (What)** — 这个机制解决什么问题。
2. **为什么 (Why)** — 为什么 ROS2 这样设计,设计稿原文引用。
3. **怎么用 (How)** — API 列表 + 最小可运行示例。
4. **怎么测 (Test)** — 单元测试 + 集成测试代码。
5. **怎么错 (Pitfalls)** — 踩过的坑 + 故障排查表。
6. **学什么 (Next)** — 进阶阅读 + 相关论文。
---
## Level 1: ROS2 基础机制 (Foundation)
> **核心目标**: 完整理解 ROS2 的 12 大基础机制,能独立写节点 + launch 文件 + 自定义接口 + 生命周期管理。
### 12 大机制清单
| # | 机制 | 当前包 | 文档 |
|---|---|---|---|
| 1 | 节点 (Node) | `py_pubsub` / `cpp_pubsub` | `10-concepts.md` |
| 2 | Topic (发布订阅) | `py_pubsub` / `cpp_pubsub` | `20-topics.md` |
| 3 | Service (请求响应) | `py_srv` | `30-services.md` |
| 4 | Action (目标-反馈-结果) | `py_action_demo` | `40-actions.md` |
| 5 | TF2 (坐标变换) | `cpp_robot_tf2` | `50-tf2.md` |
| 6 | URDF (机器人模型) | `cpp_robot_tf2` | `60-urdf.md` |
| 7 | Launch (启动编排) | `bringup` | `70-launch.md` |
| 8 | 参数 (Parameter) | `py_params` ⭐新增 | `15-params.md` ⭐新增 |
| 9 | 自定义接口 (.msg/.srv/.action) | `cpp_custom_interface` ⭐新增 | `16-custom-interfaces.md` ⭐新增 |
| 10 | 生命周期 (Lifecycle Node) | `py_lifecycle_composable` ⭐新增 | `17-lifecycle.md` ⭐新增 |
| 11 | 组合节点 (Composable Node) | `py_lifecycle_composable` ⭐新增 | `18-composable.md` ⭐新增 |
| 12 | QoS (服务质量) | `cpp_qos_demo` ⭐新增 | `19-qos.md` ⭐新增 |
| 13 | ros2 bag (录制回放) | `cpp_qos_demo` ⭐新增 | `20-bag.md` ⭐新增 |
| 14 | colcon overlay (混合工作空间) | `py_overlay_dds` ⭐新增 | `21-overlay-dds.md` ⭐新增 |
| 15 | DDS / RMW (中间件配置) | `py_overlay_dds` ⭐新增 | `21-overlay-dds.md` ⭐新增 |
⭐新增 = Level 1 完成补齐的 5 个包 + 7 篇文档。
### Level 1 子目标
- ✅ 能独立写发布者、订阅者、服务器、客户端、Action server、Action client。
- ✅ 能用 TF2 监听 / 广播坐标变换,理解 `lookupTransform` vs `buffer.lookup_transform_async`。
- ✅ 能写简单 URDF,理解 `<link>` / `<joint>` / `<inertial>` / `<visual>` / `<collision>`。
- ✅ 能写 Python launch 文件,理解 `Node` / `IncludeLaunchDescription` / `LaunchConfiguration` / `PathJoinSubstitution`。
- ⭐ **新增** 能声明参数、读参数、参数变化回调、从 YAML 加载。
- ⭐ **新增** 能自定义 .msg / .srv / .action 并在节点里使用。
- ⭐ **新增** 能用 Lifecycle Node 管理节点状态(configure / activate / cleanup / shutdown)。
- ⭐ **新增** 能用 Composable Node 把多个节点装到一个进程。
- ⭐ **新增** 能配置 QoS(Reliability / Durability / History / Depth / Deadline / Lifeliness)。
- ⭐ **新增** 能用 `ros2 bag` 录制 / 回放 / 信息查询。
- ⭐ **新增** 能用 `colcon build --packages-up-to` 做混合工作空间。
- ⭐ **新增** 能配 domain ID / static peers / QoS XML,理解 DDS 中间件。
### Level 1 测试覆盖
```
py_pubsub 4 pytest ✅
cpp_pubsub 2 gtest ✅
py_srv 1 pytest ✅
py_action_demo 1 pytest ✅
cpp_robot_tf2 2 gtest ✅
py_vision_demo 2 pytest ✅
bringup 6 launch ✅
py_params 3 pytest ⭐(新增)
cpp_custom_interface 3 gtest ⭐(新增)
py_lifecycle_composable 3 pytest ⭐(新增)
cpp_qos_demo 3 gtest ⭐(新增)
py_overlay_dds 2 pytest ⭐(新增)
总计: 32 用例, 目标 100% 通过
```
---
## Level 2: 仿真 + 工具链 (Simulation & Tooling)
> **核心目标**: 用 MoveIt2 + Nav2 + Gazebo 把 Level 1 的基础机制用在真实仿真机器人上,学会调试 / 监控 / 测试金字塔。
### Level 2 计划包(下一阶段)
| 包 | 主题 | 关键概念 |
|---|---|---|
| `moveit2_demo` | MoveIt2 机械臂运动规划 | SRDF / PlanningScene / OMPL / CartesianPath |
| `nav2_demo` | Nav2 移动底盘导航 | Costmap / BT / SLAM / Recovery Behavior |
| `gazebo_sim` | Gazebo 仿真器集成 | SDF / Plugins / Sensors / ros2_control |
| `ros2_controllers` | ros2_control 控制器 | JointTrajectoryController / GripperController / DiffDriveController |
| `ros2_test_demo` | 测试金字塔 | launch_testing / pytest fixtures / gtest mock |
### Level 2 文档
- `22-moveit2.md` — MoveIt2 概念 + 编程 API + 调试技巧
- `23-nav2.md` — Nav2 概念 + 配置 + 行为树
- `24-gazebo.md` — Gazebo Harmonic 集成
- `25-ros2-control.md` — ros2_control 硬件抽象
- `26-testing-pyramid.md` — 单元 / 集成 / E2E 测试策略
### Level 2 子目标
- ✅ 能用 MoveIt2 给 6 自由度机械臂做运动规划。
- ✅ 能用 Nav2 给移动底盘做 SLAM + 路径规划。
- ✅ 能在 Gazebo 里仿真传感器(Lidar / Camera / IMU)。
- ✅ 理解 ros2_control 硬件抽象层。
- ✅ 写完整的测试金字塔: 单元 (60%) + 集成 (30%) + E2E (10%)。
### 推荐硬件(仿真阶段无需)
仿真阶段**不需要任何硬件**。Gazebo + RViz 足够。
---
## Level 3: 机械臂实战 (Real Robot)
> **核心目标**: 把仿真代码搬到真机,做手眼标定 + 视觉抓取 + 力控,实现"看得见、抓得起、放得稳"。
### Level 3 计划包(中后期)
| 包 | 主题 | 关键概念 |
|---|---|---|
| `arm_hardware` | 真实机械臂驱动 | UR5e / xArm / Franka / Realman 驱动 |
| `arm_calibration` | 手眼标定 | Eye-in-Hand / Eye-to-Hand / Tsai-Lenz / Park |
| `arm_perception` | 视觉感知 | RGB-D / 点云 / 6D 位姿 / GraspNet |
| `arm_grasp` | 抓取规划 | 6-DoF Grasp / suction / parallel jaw |
| `arm_trajectory` | 轨迹优化 | 时间最优 / 能量最优 / STOMP / CHOMP |
| `arm_force` | 力控 | impedance / admittance / hybrid position-force |
### Level 3 文档
- `27-arm-drivers.md` — 主流机械臂驱动对比 + 选型
- `28-hand-eye-calib.md` — 手眼标定原理 + 实践
- `29-6d-pose.md` — 6D 位姿估计(FoundationPose / GraspNet)
- `30-grasp-planning.md` — 抓取规划算法
- `31-force-control.md` — 力控原理 + 实践
### Level 3 推荐硬件(最低配置)
| 设备 | 型号 | 预算 |
|---|---|---|
| 机械臂 | xArm6 / UR5e / Realman RM75 | ¥15,000-50,000 |
| 夹爪 | 大寰 DH-3 / Robotiq 2F-85 | ¥3,000-8,000 |
| RGB-D 相机 | Intel RealSense D435 / Orbbec Gemini 2 | ¥1,500-3,000 |
| 标定板 | A4 ArUco 6×6 | ¥50 |
| 工控机 | NUC / RDK X5 | ¥3,000-5,000 |
总计: ¥25,000-70,000(可选配)
### Level 3 子目标
- ✅ 能驱动真实机械臂做点到点运动 + 直线运动。
- ✅ 做完手眼标定,误差 < 2mm。
- ✅ 视觉检测物体 6D 位姿,精度 < 5mm / 5°。
- ✅ 抓取成功率 > 80% (已知物体集)。
- ✅ 力控下能完成插孔 / 装配任务。
---
## Level 4: 具身智能 VLA (Embodied AI)
> **核心目标**: 用大模型(LLM / VLM)让机器人理解自然语言指令,自主决策动作序列,完成开放域任务。
### Level 4 计划包(终极目标)
| 包 | 主题 | 关键概念 |
|---|---|---|
| `vla_data` | 数据采集 + 处理 | DROID / Open X-Embodiment / RT-1 数据格式 |
| `vla_model` | VLA 模型 | OpenVLA / π0 / RT-2 / RoboFlamingo |
| `vla_inference` | 推理优化 | RKNN / TensorRT / ONNX / 量化 |
| `vla_deployment` | 端到端部署 | PC + RDK X5 + RK3506 三机协同 |
### Level 4 文档
- `32-vla-intro.md` — VLA 概念 + 主流模型对比
- `33-vla-training.md` — VLA 模型微调 + 数据工程
- `34-vla-inference.md` — 边缘推理 + NPU 加速
- `35-vla-deployment.md` — 真机部署 + 三机协同
### Level 4 关键论文(引用)
1. **RT-2** — Google DeepMind, 2023, "RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control"
2. **OpenVLA** — Stanford / UC Berkeley / Toyota Research, 2024, "OpenVLA: An Open-Source Vision-Language-Action Model"
3. **π0** — Physical Intelligence, 2024, "π0: A Foundation Model for Robots"
4. **DROID** Stanford, 2024, "DROID: A Large-Scale In-the-Wild Robot Manipulation Dataset"
5. **Open X-Embodiment** — Google DeepMind et al., 2023, "Scaling Up Learning Across Many Different Robot Types"
### Level 4 子目标
- ✅ 能用 OpenVLA / π0 完成"把红杯子放到桌子左边"这类指令。
- ✅ 能用 RDK X5 NPU (5 TOPS) 跑 VLA 推理,延迟 < 500ms。
- ✅ 三机协同: PC 跑大模型 / RDK X5 跑感知 / RK3506 跑实时控制。
- ✅ 在真实机械臂上完成 10+ 类自然语言指令。
### Level 4 终极硬件配置
| 设备 | 角色 | 关键算力 |
|---|---|---|
| PC (RTX 4090) | 训练 + 大模型推理 | 100+ TOPS |
| RDK X5 | 边缘 VLA 推理 | 5 TOPS NPU |
| RK3506 ×2 | 实时控制 + 通讯 | 3 核 ARM + 512MB RAM |
---
## 硬件清单(汇总)
| 阶段 | 设备 | 必需 / 可选 |
|---|---|---|
| L1 | PC + Docker | 必需 |
| L2 | PC + Docker | 必需 |
| L3 | PC + xArm + RealSense + 标定板 | 必需 |
| L3 进阶 | + 夹爪 + 工装 | 可选 |
| L4 | PC (RTX 4090) + RDK X5 + RK3506 ×2 + xArm | 必需 |
---
## 时间估算
| Level | 学习时长(每天 2-3 小时) | 关键里程碑 |
|---|---|---|
| L1 | 4-6 周 | 写自定义接口 + Lifecycle Node |
| L2 | 6-8 周 | MoveIt2 给真臂规划 + Gazebo 仿真 |
| L3 | 8-12 周 | 手眼标定 + 视觉抓取 + 力控 |
| L4 | 12+ 周 | VLA 真机部署 |
总计: **6-9 个月** 从零到 VLA 真机部署。
---
## 推荐阅读 + 引用
### ROS2 官方文档(权威)
- [ROS2 Humble 官方文档](https://docs.ros.org/en/humble/index.html)
- [ROS2 设计稿 (design.ros2.org)](https://design.ros2.org/) — 必读,讲解为什么这样设计
- [ROS2 Concepts](https://docs.ros.org/en/humble/Concepts.html) — 概念总览
- [ROS2 Tutorials](https://docs.ros.org/en/humble/Tutorials.html) — 入门教程
- [ROS2 QoS 文档](https://docs.ros.org/en/humble/Concepts/About-Quality-of-Service.html)
- [ROS2 Lifecycle Node](https://design.ros2.org/articles/node_lifecycle.html)
- [ROS2 Composable Node](https://docs.ros.org/en/humble/Concepts/About-Composition.html)
- [ROS2 Launch](https://docs.ros.org/en/humble/Tutorials/Launch-system.html)
### DDS 规范
- [OMG DDS 规范 v1.4](https://www.omg.org/spec/DDS/1.4/) — QoS 源头
- [FastRTPS 文档](https://fast-rtps.docs.eprosima.com/) — 默认 RMW
- [Cyclone DDS 文档](https://cyclonedds.io/docs/) — 备选 RMW
### 机器人学
- [Probabilistic Robotics (Thrun et al.)](http://www.probabilistic-robotics.org/) — SLAM 基础
- [Modern Robotics (Lynch & Park)](https://hades.mech.northwestern.edu/index.php/Modern_Robotics.html) — 运动学 / 动力学
### 具身智能 / VLA
- [RT-2 论文](https://arxiv.org/abs/2307.15818)
- [OpenVLA 论文](https://arxiv.org/abs/2406.09246)
- [π0 论文](https://arxiv.org/abs/2410.24164)
- [DROID 数据集](https://droid-dataset.github.io/)
- [Open X-Embodiment 数据集](https://robotics-transformer-x.github.io/)
---
## 学习方法建议
### 每日节奏(2-3 小时)
```
30 min: 读本级文档(理解概念)
60 min: 跑包内 demo(动手验证)
30 min: 改 demo 试错(巩固)
30 min: 写学习笔记(记录坑点)
30 min: 复习 + 下一节
```
### 提问技巧
学 ROS2 时遇到问题,优先:
1. 看本仓库对应文档末尾"故障排查"表
2. 看 ROS2 官方文档对应章节
3. `ros2 doctor` 输出
4. `rclpy` / `rclcpp` 源码 + 调用栈
5. 最后才 Google / Stack Overflow
### 贡献方式
学完一段后,欢迎:
- 修 bug(测试用例失败的)
- 补文档(没说清楚的)
- 加 demo(新机制的最小示例)
- 翻译(英文版)
详见 `CONTRIBUTING.md`。
---
## 路线图完成度
```
[Level 1] ████████████░░ 95% (5 包 5 文档待补,1 个 todo)
[Level 2] ░░░░░░░░░░░░░░░ 0% (规划完成)
[Level 3] ░░░░░░░░░░░░░░░ 0% (规划完成)
[Level 4] ░░░░░░░░░░░░░░░ 0% (规划完成)
```
---
**继续**: 看 `doc/01-quickstart.md` 跑通第一个 demo → `doc/10-concepts.md` 理解 ROS2 概念 → `doc/15-params.md` Level 1 深度内容。
doc/15-params.md
+628
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@@ -0,0 +1,628 @@
# 参数系统 (Parameter) 全解
> **目标**: 彻底理解 ROS2 参数系统的设计原理、API、配置方式、回调机制,能独立设计参数化节点。
>
> **阅读时间**: 60-90 分钟
>
> **前置知识**: 已完成 `py_pubsub`(理解节点 + Topic),已阅读 `10-concepts.md`。
---
## 目录
- [1. 是什么 (What)](#1-是什么-what)
- [2. 为什么需要参数 (Why)](#2-为什么需要参数-why)
- [3. 设计原理 (Design)](#3-设计原理-design)
- [4. API 全解 (API)](#4-api-全解-api)
- [5. 实战代码 (Code)](#5-实战代码-code)
- [6. 测试策略 (Test)](#6-测试策略-test)
- [7. 进阶玩法 (Advanced)](#7-进阶玩法-advanced)
- [8. 故障排查 (Pitfalls)](#8-故障排查-pitfalls)
- [9. 推荐阅读 (Further)](#9-推荐阅读-further)
---
## 1. 是什么 (What)
**参数 (Parameter)** 是 ROS2 节点的**运行时配置项**,它有以下特点:
| 特性 | 说明 |
|---|---|
| **类型** | 7 种基本类型 + 数组 + 字节数组 |
| **生命周期** | 节点启动时声明,运行时可改,节点关闭时销毁 |
| **作用范围** | 节点级(每个节点独立) / 全局(全局参数服务) |
| **持久化** | 可选,持久化参数在节点重启后恢复 |
| **原子性** | `set_parameters_atomically` 保证多参数同时生效 |
### 7 种基本类型
```python
ParameterType.PARAMETER_BOOL # bool
ParameterType.PARAMETER_INTEGER # int
ParameterType.PARAMETER_DOUBLE # float
ParameterType.PARAMETER_STRING # str
ParameterType.PARAMETER_BYTE_ARRAY # bytes
ParameterType.PARAMETER_BOOL_ARRAY # List[bool]
ParameterType.PARAMETER_INTEGER_ARRAY # List[int]
ParameterType.PARAMETER_DOUBLE_ARRAY # List[float]
ParameterType.PARAMETER_STRING_ARRAY # List[str]
```
### 与 Topic / Service 的区别
| 维度 | Parameter | Topic | Service |
|---|---|---|---|
| **用途** | 配置 | 流式数据 | 请求-响应 |
| **频率** | 低(偶尔改) | 高(传感器 ~100Hz) | 单次 |
| **持久化** | 可选 | 否 | 否 |
| **回调** | on_set_parameters | on_message | on_request |
---
## 2. 为什么需要参数 (Why)
### 2.1 没有参数会怎样
假设你写了一个相机驱动节点,分辨率硬编码为 `640×480`。换相机后想用 `1920×1080`,只能改源码重编译。
### 2.2 有参数的好处
```python
class CameraDriver(Node):
def __init__(self):
super().__init__('camera_driver')
self.declare_parameter('width', 640)
self.declare_parameter('height', 480)
self.declare_parameter('frame_rate', 30)
# ...
```
换相机 / 调分辨率,不用改代码,只要改 launch 文件 / YAML / CLI:
```bash
ros2 param set /camera_driver width 1920
```
### 2.3 ROS2 参数的设计目标
引用 [ROS2 Design: Parameter](https://design.ros2.org/articles/ros_parameters.html):
> "Parameters are intended to be a way to configure nodes at startup or during runtime, without changing code."
关键点:
1. **无代码修改** — 配置与代码解耦
2. **支持运行时修改** — 不重启节点也能改
3. **类型安全** — 7 种类型 + 校验
4. **可回调** — 节点能响应参数变化
5. **可序列化** — YAML / 命令行
---
## 3. 设计原理 (Design)
### 3.1 架构图
```
┌──────────────────────────────────────┐
│ Parameter Server │ ← 全局服务 /set_parameters, /list_parameters, /describe_parameters, /get_parameters
│ (每个进程内置,无独立进程) │
└──────────────────────────────────────┘
▲ ▲
│ set_parameters │ get_parameters
│ │
┌──────┴──────┐ ┌──────┴──────┐
│ Node A │ │ Node B │
│ params: │ │ params: │
│ - rate=10 │ │ - topic= │
│ - topic=X │ │ - format= │
└─────────────┘ └─────────────┘
```
注意:**Parameter Server 不是独立进程**,它运行在每个节点进程内的 `rcl` 层(具体是 `rcl_params`)。每个节点都有自己的参数副本,通过 DDS 同步。
### 3.2 关键概念
#### a) Declare vs Use
```python
# 第一步:声明(必须)
self.declare_parameter('rate', 1.0)
# 第二步:使用
rate = self.get_parameter('rate').value
```
不声明就 `get_parameter` → 抛 `ParameterNotDeclaredException`。
#### b) On-Set Callback
```python
self.add_on_set_parameters_callback(self._on_change)
```
回调签名:`Callable[[List[Parameter]], SetParametersResult]`。
返回 `SetParametersResult(successful=True)` → 接受;返回 `(False, reason)` → 拒绝。
**注意**: 回调是**同步阻塞**的,执行慢的回调会卡住参数设置。
#### c) Parameter Override
启动顺序(优先级从高到低):
```
1. CLI: --params-file /path/to/file.yaml
2. CLI: -p param_name:=value
3. Launch: Node(parameters=[yaml_file])
4. YAML 文件: config/params.yaml
5. 代码: declare_parameter('name', default_value)
```
最右的默认值优先级最低,CLI / Launch 覆盖它。
#### d) 持久化参数 (YAML I/O)
```bash
# 保存当前参数
ros2 param dump /node_name > saved.yaml
# 恢复
ros2 param load /node_name saved.yaml
```
格式:
```yaml
/node_name:
ros__parameters:
rate: 5.0
topic: "/chatter"
```
---
## 4. API 全解 (API)
### 4.1 rclpy API
#### 声明
```python
declare_parameter(
name: str,
value: Any = None, # 推断类型
descriptor: str = '',
ignore_override: bool = False,
) -> Parameter
```
#### 读取
```python
get_parameter(name: str) -> Parameter
# or
get_parameters(names: List[str]) -> List[Parameter]
```
`Parameter` 对象的属性:
- `.name`: 参数名
- `.value`: 参数值(类型推断)
- `.type`: ParameterType 枚举
- `.descriptor`: 描述符
#### 设置
```python
set_parameters(parameters: List[Parameter]) -> List[SetParametersResult]
```
或原子性:
```python
set_parameters_atomically(parameters: List[Parameter]) -> SetParametersResult
```
#### 回调
```python
add_on_set_parameters_callback(
callback: Callable[[List[Parameter]], SetParametersResult],
prepend: bool = False,
) -> None
remove_on_set_parameters_callback(callback) -> None
```
#### 列出 / 描述
```python
list_parameters() -> List[str]
describe_parameters(names: List[str]) -> List[ParameterDescriptor]
```
### 4.2 CLI 工具
```bash
# 列出某节点所有参数
ros2 param list /node_name
# 读参数
ros2 param get /node_name param_name
# 设参数
ros2 param set /node_name param_name value
# 导出参数
ros2 param dump /node_name
# 加载参数
ros2 param load /node_name saved.yaml
```
### 4.3 Launch 文件传参
#### 方式 A: 直接传值
```python
Node(
package='my_pkg',
executable='my_node',
parameters=[{
'rate': 10.0,
'topic': '/chatter',
}],
)
```
#### 方式 B: 加载 YAML
```python
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
config = PathJoinSubstitution([
FindPackageShare('my_pkg'),
'config',
'params.yaml',
])
Node(
package='my_pkg',
executable='my_node',
parameters=[config],
)
```
#### 方式 C: CLI 覆盖
```bash
ros2 run my_pkg my_node --ros-args -p rate:=10.0 -p topic:=/new_topic
```
#### 方式 D: 全局参数
```python
from launch_ros.actions import PushRosNamespace
# 启动时把所有参数推到 /my_ns
PushRosNamespace('my_ns')
```
---
## 5. 实战代码 (Code)
完整示例见 `src/py_params/`,这里讲关键设计:
### 5.1 主节点: `param_node.py`
```python
class ParamNode(Node):
def __init__(self):
super().__init__('param_node')
# 1. 声明三个参数(类型自动推断)
self.declare_parameter('publish_rate', 1.0)
self.declare_parameter('topic_name', 'params_chatter')
self.declare_parameter('message_prefix', 'Params:')
# 2. 读取参数
topic_name = self.get_parameter('topic_name').value
# 3. 用参数构造发布者
self._pub = self.create_publisher(String, topic_name, 10)
# 4. 用参数构造定时器
rate = self.get_parameter('publish_rate').value
self._timer = self.create_timer(1.0 / rate, self._cb)
# 5. 注册回调
self.add_on_set_parameters_callback(self._on_change)
```
### 5.2 回调: 拒绝非法值
```python
def _on_change(self, params):
for p in params:
if p.name == 'publish_rate' and p.value <= 0.0:
return SetParametersResult(
successful=False,
reason='publish_rate 必须 > 0'
)
return SetParametersResult(successful=True)
```
### 5.3 YAML 配置: `config/params.yaml`
```yaml
param_node:
ros__parameters:
publish_rate: 2.0
topic_name: "params_chatter"
message_prefix: "Configured:"
```
### 5.4 Launch 文件
```python
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
cfg = PathJoinSubstitution([
FindPackageShare('py_params'),
'config',
'params.yaml',
])
return LaunchDescription([
Node(
package='py_params',
executable='param_node',
parameters=[cfg],
output='screen',
),
])
```
---
## 6. 测试策略 (Test)
### 6.1 单元测试: 声明默认值
```python
def test_param_declaration():
rclpy.init()
node = ParamNode()
assert node.get_parameter('publish_rate').value == 1.0
```
### 6.2 单元测试: 合法 set
```python
new_param = Parameter(
name='publish_rate',
value=ParameterValue(type=ParameterType.PARAMETER_DOUBLE, double_value=5.0),
)
result = node.set_parameters([new_param])
assert result[0].successful is True
```
### 6.3 单元测试: 非法值被拒绝
```python
bad = Parameter(
name='publish_rate',
value=ParameterValue(type=ParameterType.PARAMETER_DOUBLE, double_value=-1.0),
)
result = node.set_parameters([bad])
assert result[0].successful is False
assert '必须 > 0' in result[0].reason
```
### 6.4 YAML 集成测试
```python
def test_yaml_loadable():
with open('config/params.yaml') as f:
cfg = yaml.safe_load(f)
assert cfg['param_node']['ros__parameters']['publish_rate'] == 2.0
```
---
## 7. 进阶玩法 (Advanced)
### 7.1 动态重配置 (Dynamic Reconfigure)
ROS1 时代的 dynamic_reconfigure,在 ROS2 里被参数 + 回调取代。
例: 实时调 PID 参数:
```python
def _on_change(self, params):
for p in params:
if p.name == 'kp':
self._pid.set_kp(p.value)
elif p.name == 'kd':
self._pid.set_kd(p.value)
return SetParametersResult(successful=True)
```
外部通过 `ros2 param set` 实时调:
```bash
ros2 param set /controller kp 0.5
```
### 7.2 参数回调链 (Callback Chain)
多个回调按顺序执行,任何一个返回 False 整链失败:
```python
node.add_on_set_parameters_callback(cb_validate) # 校验
node.add_on_set_parameters_callback(cb_propagate) # 传给内部子系统
```
### 7.3 全局参数 (Global Parameter)
通过 `PushRosNamespace` 把所有参数推到命名空间:
```python
from launch_ros.actions import PushRosNamespace
LaunchDescription([
PushRosNamespace('robot1'),
Node(package='cam', executable='driver'),
])
# 启动后参数命名:/robot1/cam/driver/...
```
### 7.4 参数文件覆盖
启动顺序优先级(从高到低):
```
1. --params-file (CLI)
2. -p name:=value (CLI)
3. Launch(parameters=...)
4. YAML 文件
5. declare_parameter 默认值
```
多个 YAML 文件,后面的覆盖前面的(数组传参)。
---
## 8. 故障排查 (Pitfalls)
### 8.1 `ParameterNotDeclaredException`
**症状**: `get_parameter` 抛异常。
**原因**: 没 `declare_parameter` 就 `get_parameter`。
**解决**:
```python
# 错误
def __init__(self):
rate = self.get_parameter('rate').value # 💥
# 正确
def __init__(self):
self.declare_parameter('rate', 1.0) # 先声明
rate = self.get_parameter('rate').value # 再 get
```
### 8.2 回调未触发
**症状**: `ros2 param set` 后回调没反应。
**原因**: 多个回调,前一个返回 False 短路了。
**解决**: 检查每个回调的返回值,所有都要 `successful=True`。
### 8.3 YAML 没加载
**症状**: 启动后参数是默认值,不是 YAML 里的值。
**原因**: YAML 路径错 / 节点名不匹配。
**解决**:
```bash
# 检查 YAML 是否被安装到 share/
ros2 pkg prefix py_params
# 查看 install/py_params/share/py_params/config/params.yaml
# 启动时打印实际加载的参数
ros2 param list /param_node # 看实际值
```
### 8.4 浮点精度
**症状**: `ros2 param set rate 0.1` 后实际值是 `0.10000000149...`。
**原因**: IEEE 754 浮点表示。
**解决**: 容忍误差,或在回调里 `round(p.value, 3)`。
### 8.5 数组参数类型不匹配
**症状**: `get_parameter` 抛 `ParameterTypeMismatchException`。
**原因**: YAML 写 `'topic'`(字符串)但代码期望 `topic_name` 是字符串数组。
**解决**: 检查 YAML 缩进和 `[]` / 引号:
```yaml
# 字符串数组
names: ["a", "b", "c"]
# 或
names: ['a', 'b', 'c']
```
### 8.6 Callback 阻塞导致 hang
**症状**: `ros2 param set` 卡死。
**原因**: 回调里有阻塞 I/O(网络 / 大文件)。
**解决**: 把阻塞操作放后台线程,回调只做校验。
### 8.7 Atomically vs 普通 set
**症状**: 多参数同时设置,部分生效部分失败。
**解决**: 用 `set_parameters_atomically`,要么全成功要么全失败。
```python
result = node.set_parameters_atomically([
Parameter(name='kp', value=...),
Parameter(name='kd', value=...),
])
if not result.successful:
self.get_logger().error(f'set failed: {result.reason}')
```
---
## 9. 推荐阅读 (Further)
### 官方文档
- [ROS2 Parameter Design](https://design.ros2.org/articles/ros_parameters.html) — 设计稿,必读
- [ROS2 Humble Parameter Tutorial](https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Parameters/Understanding-ROS2-Parameters.html)
- [ROS2 CLI: ros2 param](https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Using-ROS2-CLI-Tools.html)
- [rclpy: Parameter class](https://docs.ros2.org/en/latest/rclpy_api/rclpy.parameter.html)
- [rcl_interfaces.msg](https://github.com/ros2/rcl_interfaces) — Parameter / ParameterValue / SetParametersResult 消息定义
### 相关 RFC / 设计稿
- [ROS2 Design: Parameter Validation](https://design.ros2.org/articles/ros_parameters.html#parameter-validation)
- [ROS2 Design: On-Set Parameters Callback](https://design.ros2.org/articles/ros_parameters.html#on-set-parameters-callback)
### 进阶话题
- **与 ros2_control 集成**: hardware_interface 启动时从 YAML 加载控制器参数
- **与 MoveIt2 集成**: PlanningScene 用参数配置避障
- **与 Nav2 集成**: 行为树参数、Costmap 参数全部走 ROS2 参数
### 实战例子
- [ros2/demos: topic_monitor](https://github.com/ros2/demos/blob/humble/demo_nodes_py/demo_nodes_py/topics/topic_monitor.py)
- [turtlebot3: 参数化](https://github.com/ROBOTIS-GIT/turtlebot3/blob/humble/turtlebot3_node/src/turtlebot3_node.cpp)
---
## 一句话总结
> **ROS2 参数 = 节点的"配置项",从 launch / YAML / CLI 传入,运行时可改,回调里能拒绝非法值。设计目标是"配置与代码解耦"。**
下一节: `doc/16-custom-interfaces.md` 学习自定义 .msg / .srv / .action。
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# 16 · 自定义接口 (.msg / .srv / .action) 完全指南
> **目标**: 理解 ROS2 自定义接口的设计原理、文件格式、rosidl 工具链、能独立写 .msg / .srv / .action。
---
## 目录
- [1. 为什么需要自定义](#1-为什么需要自定义)
- [2. .msg 文件格式](#2-msg-文件格式)
- [3. .srv 文件格式](#3-srv-文件格式)
- [4. .action 文件格式](#4-action-文件格式)
- [5. rosidl_generate_interfaces](#5-rosidl_generate_interfaces)
- [6. CMakeLists.txt + package.xml 配置](#6-cmakeliststxt--packagexml-配置)
- [7. C++ / Python 使用](#7-c--python-使用)
- [8. 设计原则](#8-设计原则)
- [9. 推荐阅读](#9-推荐阅读)
---
## 1. 为什么需要自定义
ROS2 标准消息(`std_msgs` / `sensor_msgs` / `geometry_msgs`)覆盖了 80% 场景,但有些项目特定需求:
- 工业传感器读数(温度 + 压力 + 校准日期)
- 机器人状态(电量 + 温度 + 故障码)
- 业务动作(下单 + 支付 + 物流)
这些都需要**项目特定**的自定义接口。
## 2. .msg 文件格式
```
# 注释(以 # 开头)
<type> <field_name> # 字段
```
字段类型:
| ROS 类型 | C++ 类型 | Python 类型 |
|---|---|---|
| `bool` | `bool` | `bool` |
| `int8`/`int16`/`int32`/`int64` | `int8_t`/... | `int` |
| `uint8`/.../`uint64` | `uint8_t`/... | `int` |
| `float32`/`float64` | `float`/`double` | `float` |
| `string` | `std::string` | `str` |
| `time`/`duration` | `builtin_interfaces::msg::Time` | `Time` |
| 其他消息类型 | `pkg::msg::Type` | `pkg.msg.Type` |
| `type[]` | `std::vector<T>` | `List[T]` |
| `type[3]` | `std::array<T,3>` | `Tuple[T,T,T]` |
示例: `msg/SensorReading.msg`
```
std_msgs/Header header
string sensor_id
string unit
float64 value
```
## 3. .srv 文件格式
```
# Request 字段(--- 上)
<type> <field_name>
---
# Response 字段(--- 下)
<type> <field_name>
```
示例: `srv/GetCalibration.srv`
```
string sensor_id
---
float64[9] intrinsic_matrix
float64[3] bias
string calibration_date
bool valid
```
## 4. .action 文件格式
```
# Goal 字段(第 1 段)
<type> <field_name>
---
# Result 字段(第 2 段)
<type> <field_name>
---
# Feedback 字段(第 3 段)
<type> <field_name>
```
示例: `action/MoveArm.action`
```
geometry_msgs/PoseStamped target_pose
string[] joint_names
float32 max_velocity_scaling
float32 max_acceleration_scaling
---
bool success
string error_message
float64 total_time_sec
---
float32 progress
string current_state
```
## 5. rosidl_generate_interfaces
ROS2 用 `rosidl` 自动从 .msg/.srv/.action 生成 C++ / Python 代码:
```cmake
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/SensorReading.msg"
"srv/GetCalibration.srv"
"action/MoveArm.action"
DEPENDENCIES std_msgs geometry_msgs
ADD_LINTER_TESTS
)
```
生成位置:
- C++ 头文件:`install/<pkg>/include/<pkg>/msg/<msg_name>.hpp`
- Python 模块:`install/<pkg>/lib/python3.10/site-packages/<pkg>/msg/<msg_name>.py`
## 6. CMakeLists.txt + package.xml 配置
**`package.xml` 必备**:
```xml
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
```
**`CMakeLists.txt` 顺序**:
```cmake
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME} ...)
ament_target_dependencies(${PROJECT_NAME}_core rclcpp "rosidl_typesupport_cpp")
rosidl_target_interfaces(${PROJECT_NAME}_core ${PROJECT_NAME} "rosidl_typesupport_cpp")
```
## 7. C++ / Python 使用
### C++
```cpp
#include "cpp_custom_interface/msg/sensor_reading.hpp"
auto msg = cpp_custom_interface::msg::SensorReading();
msg.sensor_id = "imu_0";
msg.value = 1.234;
publisher_->publish(msg);
```
### Python
```python
from cpp_custom_interface.msg import SensorReading
msg = SensorReading()
msg.sensor_id = 'imu_0'
msg.value = 1.234
publisher.publish(msg)
```
## 8. 设计原则
| 原则 | 说明 |
|---|---|
| **优先标准接口** | 90% 场景用 `std_msgs` / `sensor_msgs` |
| **字段 snake_case + 单位后缀** | `velocity_mps` 而不是 `v` |
| **Header 必备** | 任何有"时间戳"的消息都加 `std_msgs/Header` |
| **数组 vs 单值** | `float64[]` 用于多维数据,单值用 `float64` |
| **不要嵌指针** | 用 ID (`string object_id`) 而非 `string&` |
| **字段命名清晰** | `target_pose` 不是 `tp`,`max_velocity_scaling` 不是 `v_max` |
| **Result 加 success + error_message** | client 知道成功还是失败 |
## 9. 推荐阅读
- [ROS2 自定义接口官方教程](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html)
- [REP-127: ROS Message 标准](https://www.ros.org/reps/rep-0127.html)
- [rosidl 文档](https://design.ros2.org/articles/legacy_interface_definition.html)
- [`cpp_custom_interface` 包](../src/cpp_custom_interface/README.md) — 本仓库的演示
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# 17 · 生命周期节点 (Lifecycle Node) 完全指南
> **目标**: 理解 ROS2 Lifecycle Node 的设计、状态机、转换机制,能用 Lifecycle Node 管理资源密集型节点。
---
## 目录
- [1. 是什么](#1-是什么)
- [2. 为什么需要](#2-为什么需要)
- [3. 状态机](#3-状态机)
- [4. 转换回调](#4-转换回调)
- [5. Service 接口](#5-service-接口)
- [6. Python 实现](#6-python-实现)
- [7. C++ 实现](#7-c-实现)
- [8. CLI 控制](#8-cli-控制)
- [9. 实战模式](#9-实战模式)
- [10. 推荐阅读](#10-推荐阅读)
---
## 1. 是什么
**Lifecycle Node** 是 rclcpp / rclpy 的特殊节点基类,提供:
- **受控状态切换**(configure → activate → deactivate → cleanup → shutdown)
- **每种状态都有自己的回调**(on_configure / on_activate 等)
- **外部触发转换**(通过 service 调用)
适用场景:
- 资源密集型节点(加载 ML 模型、连接硬件、订阅话题)
- 需要明确"启动顺序"的复杂系统(相机先 ready,处理节点再 activate)
- 安全敏感系统(切换前确认硬件 OK)
## 2. 为什么需要
普通节点的缺点:
```python
# ❌ 普通节点 — 启动即订阅 / 订阅即消费 / 死了就完了
class MyNode(Node):
def __init__(self):
super().__init__('my_node')
self._sub = self.create_subscription(...) # 一启动就开始消费
```
问题:
- 想"暂停"接收?做不到
- 想"重新初始化"?得 kill 重启
- 想"加载模型失败就停"?只能异常退出
Lifecycle Node 解决:
```python
# ✅ Lifecycle Node — 显式状态切换
class MyLifecycleNode(LifecycleNode):
def on_configure(self, state):
# 加载模型、分配资源
# 失败 → return FAILURE,不会进入 active
def on_activate(self, state):
# 订阅话题、启动定时器
# 失败 → return FAILURE,自动 cleanup
def on_deactivate(self, state):
# 停止订阅、暂停定时器(但资源仍在)
def on_cleanup(self, state):
# 释放模型、断开连接(回到 unconfigured)
```
## 3. 状态机
```
configure
unconfigured ───────→ inactive
▲ │ │ activate
│ │ cleanup ▼
│ └────────────── active
│ │ deactivate
└──────────────────────┘
shutdown(任何状态都可触发)→ finalized
```
四个主要状态:
- `unconfigured`: 已创建但未配置
- `inactive`: 已配置但未激活
- `active`: 完全运行(处理数据)
- `finalized`: 终止(不可逆)
转换事件(transition):
- `configure`: unconfigured → inactive
- `activate`: inactive → active
- `deactivate`: active → inactive
- `cleanup`: inactive → unconfigured
- `shutdown`: 任何 → finalized
## 4. 转换回调
每个转换回调签名: `(state: State) -> TransitionCallbackReturn`
返回:
- `SUCCESS`: 转换成功,进入目标状态
- `FAILURE`: 转换失败,回到原状态
- `ERROR`: 转换错误,直接进 finalized
**必须重写**:
- `on_configure(state)`
- `on_activate(state)`
- `on_deactivate(state)`
- `on_cleanup(state)`
- `on_shutdown(state)`
**可选重写**:
- `on_error(state)`: 错误处理
## 5. Service 接口
每个 Lifecycle Node 自动注册两个 service:
- `/<node>/change_state` (`lifecycle_msgs/srv/ChangeState`)— 触发转换
- `/<node>/get_state` (`lifecycle_msgs/srv/GetState`)— 查询状态
```bash
# 查状态
ros2 service call /lifecycle_demo_node/get_state lifecycle_msgs/srv/GetState
# 触发 configure (transition id = 1)
ros2 service call /lifecycle_demo_node/change_state \
lifecycle_msgs/srv/ChangeState "{transition: {id: 1}}"
```
Transition IDs:
| ID | 转换 |
|---|---|
| 0 | configure |
| 1 | cleanup |
| 2 | activate |
| 3 | deactivate |
| 4 | shutdown |
## 6. Python 实现
```python
from rclpy.lifecycle import LifecycleNode, TransitionCallbackReturn
class LifecycleDemoNode(LifecycleNode):
def on_configure(self, state):
self._publisher = self.create_lifecycle_publisher(String, 'topic', 10)
return TransitionCallbackReturn.SUCCESS
def on_activate(self, state):
self._timer = self.create_timer(0.5, self._publish)
return super().on_activate(state)
def on_deactivate(self, state):
self.destroy_timer(self._timer)
return super().on_deactivate(state)
def on_cleanup(self, state):
self.destroy_lifecycle_publisher(self._publisher)
return TransitionCallbackReturn.SUCCESS
```
## 7. C++ 实现
```cpp
#include "rclcpp_lifecycle/lifecycle_node.hpp"
class LifecycleDemoNode : public rclcpp_lifecycle::LifecycleNode
{
public:
LifecycleDemoNode() : rclcpp_lifecycle::LifecycleNode("demo") {}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_configure(const rclcpp_lifecycle::State &)
{
publisher_ = this->create_publisher<String>("topic", 10);
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
};
```
## 8. CLI 控制
```bash
# 1. 启 Lifecycle Node
ros2 launch my_pkg lifecycle_demo.py
# 2. 触发 configure
ros2 lifecycle set /lifecycle_node configure
# (Humble 后 ros2 lifecycle set 直接用,而不是 service call)
# 3. 触发 activate
ros2 lifecycle set /lifecycle_node activate
# 4. 看状态
ros2 lifecycle get /lifecycle_node
# 输出:active [3]
```
## 9. 实战模式
### 模式 1: ML 模型加载
```python
def on_configure(self, state):
try:
self._model = torch.load('model.pt') # 加载 ML 模型
return TransitionCallbackReturn.SUCCESS
except FileNotFoundError:
return TransitionCallbackReturn.FAILURE # 配置失败,节点不可用
def on_activate(self, state):
self._sub = self.create_subscription(Image, 'image_raw', self._infer, 10)
return super().on_activate(state)
def _infer(self, msg):
if self._model is None: return # 不会到这里(因为 activate 前要 configure 成功)
result = self._model(msg)
...
```
### 模式 2: 硬件连接(相机)
```python
def on_configure(self, state):
try:
self._camera = cv2.VideoCapture(0)
if not self._camera.isOpened():
return TransitionCallbackReturn.FAILURE
return TransitionCallbackReturn.SUCCESS
except Exception:
return TransitionCallbackReturn.FAILURE
def on_cleanup(self, state):
if self._camera:
self._camera.release()
return TransitionCallbackReturn.SUCCESS
```
## 10. 推荐阅读
- [ROS2 Lifecycle 设计稿](https://design.ros2.org/articles/node_lifecycle.html)
- [ROS2 Lifecycle Humble 教程](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-Event-Handlers.html)
- [`py_lifecycle_composable` 包](../src/py_lifecycle_composable/README.md)
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# 18 · 组合节点 (Composable Node) 完全指南
> **目标**: 理解 ROS2 Composable Node 设计,能把多个节点合并到同一进程,降低延迟与开销。
---
## 目录
- [1. 是什么](#1-是什么)
- [2. 为什么需要](#2-为什么需要)
- [3. 工作原理](#3-工作原理)
- [4. C++ 实现(.so 库)](#4-c-实现so-库)
- [5. Container 启动](#5-container-启动)
- [6. Python 等价做法](#6-python-等价做法)
- [7. 性能对比](#7-性能对比)
- [8. 何时用](#8-何时用)
- [9. 推荐阅读](#9-推荐阅读)
---
## 1. 是什么
**Composable Node** = 把多个 ROS 节点装到**同一个进程**(共享内存)。
```
传统模式:
┌──────────┐ ┌──────────┐ ┌──────────┐
│ Process1 │ │ Process2 │ │ Process3 │
│ Node A │ │ Node B │ │ Node C │
└──────────┘ └──────────┘ └──────────┘
│ DDS │ │ DDS │ │ DDS │
└─────┴────────┴────────┴────────┘
(跨进程通信,微秒级延迟)
Composable 模式:
┌────────────────────────────┐
│ Single Process │
│ Node A │ Node B │ Node C │
│ (shared memory) │
└────────────────────────────┘
│ DDS │
(只有出/入本进程时走 DDS)
```
## 2. 为什么需要
| 场景 | 传统模式延迟 | Composable 延迟 | 提升 |
|---|---|---|---|
| 5 节点 pipeline | ~500μs | ~50μs | **10x** |
| 高频 sensor fusion | ~1ms | ~100μs | **10x** |
| 大量小消息 | 频繁拷贝 | 共享指针 | **CPU 降 30%** |
其他好处:
- 启动快(避免 fork)
- 内存共享(零拷贝)
- 调试简单(单进程,单 gdb)
## 3. 工作原理
ROS2 Composable = C++ **共享库(.so)** + **Container 进程**。
1. 把节点代码编译成 .so 库(`libmy_component.so`)
2. Container 进程(`component_container_mt`)加载 .so
3. Container 实例化组件(无需 fork)
4. 组件间用**进程内 publish/subscribe**(不经过 DDS)
## 4. C++ 实现(.so 库)
**`my_pkg/src/my_component.cpp`**:
```cpp
#include "rclcpp_components/register_node_macro.hpp"
class MyComponent : public rclcpp::Node
{
public:
explicit MyComponent(const rclcpp::NodeOptions & options)
: Node("my_component", options) {}
};
RCLCPP_COMPONENTS_REGISTER_NODE(MyComponent)
```
**`CMakeLists.txt`**:
```cmake
add_library(my_component SHARED src/my_component.cpp)
ament_target_dependencies(my_component rclcpp)
rclcpp_components_register_node(my_component "my_component")
install(TARGETS my_component
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
```
## 5. Container 启动
```bash
# 1. 单线程 container(调试用)
ros2 component standalone --container-type standalone
# 2. 多线程 container(生产用)
ros2 component standalone --container-type multithreaded
# 3. 在已有 container 里加载组件
ros2 component load <container_name> <package_name> <component_name>
# 例:
ros2 component load /ComponentManager my_pkg my_component
```
### Launch 文件
```python
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
container = ComposableNodeContainer(
name='my_container',
namespace='',
package='rclcpp_components',
executable='component_container_mt',
composable_node_descriptions=[
ComposableNode(
package='my_pkg',
plugin='my_pkg::MyComponent',
name='node_a',
),
ComposableNode(
package='my_pkg',
plugin='my_pkg::MyComponent',
name='node_b',
),
],
)
```
## 6. Python 等价做法
Python **不支持**真正的 Composable Node(必须用 C++ .so)。但有等价做法:
```python
# 同进程多节点(共享内存,但仍走 DDS 内部)
import rclpy
from rclpy.executors import MultiThreadedExecutor
rclpy.init()
node_a = NodeA()
node_b = NodeB()
executor = MultiThreadedExecutor(num_threads=4)
executor.add_node(node_a)
executor.add_node(node_b)
executor.spin()
```
Python 多节点同进程 + MultiThreadedExecutor 是 ROS2 Python 等价的 Composable 做法。
## 7. 性能对比
| 维度 | 传统多进程 | C++ Composable | Python 多线程 |
|---|---|---|---|
| 启动时间 | 慢(每个进程 fork) | 快(动态加载) | 中 |
| 进程间延迟 | ~100μs (DDS) | ~5μs (shared mem) | ~10μs |
| 内存 | 每进程独立 | 共享 | 共享 |
| 调试 | gdb attach 多个 | gdb 单进程 | gdb 单进程 |
| 灵活性 | 高(可单独 kill) | 低(同进程) | 低 |
## 8. 何时用
**用 Composable**:
- 同一 pipeline 多个节点(image → process → control)
- 高频消息流(>100Hz)
- 延迟敏感(机器人控制回路)
**不用 Composable**:
- 节点可独立部署(某些在 PC,某些在 RK3506)
- 需要单独 kill 重启某些节点
- 节点崩溃隔离(传统模式崩溃只影响一个进程)
## 9. 推荐阅读
- [ROS2 Composition 设计稿](https://design.ros2.org/articles/composition.html)
- [ROS2 Humble Composition 教程](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-Event-Handlers.html)
- [ros2 component CLI](https://docs.ros.org/en/humble/Tutorials/Intermediate/Composition.html)
- [`py_lifecycle_composable` 包](../src/py_lifecycle_composable/README.md)
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# 19 · QoS (服务质量) 完全指南
> **目标**: 理解 ROS2 QoS 的 5 个维度、兼容规则、9 种常用组合、能独立为节点选 QoS。
---
## 目录
- [1. 是什么](#1-是什么)
- [2. 5 大维度](#2-5-大维度)
- [3. 兼容规则](#3-兼容规则)
- [4. 9 种常用组合](#4-9-种常用组合)
- [5. Python API](#5-python-api)
- [6. C++ API](#6-c-api)
- [7. rclpy QoSProfile 详解](#7-rclpy-qosprofile-详解)
- [8. 调试 QoS 不兼容](#8-调试-qos-不兼容)
- [9. 推荐阅读](#9-推荐阅读)
---
## 1. 是什么
**QoS (Quality of Service)** 控制 DDS 通信的可靠性、实时性、持久性等。
ROS2 默认 QoS = `RELIABLE + VOLATILE + KEEP_LAST(10)`,适合大多数场景。
但**高频传感器流** / **控制指令** / **参数发布**等场景需要**自定义 QoS**。
## 2. 5 大维度
| 维度 | 取值 | 默认 | 含义 |
|---|---|---|---|
| **Reliability** | RELIABLE / BEST_EFFORT | RELIABLE | 必须投递 / 丢一帧无所谓 |
| **History** | KEEP_LAST(N) / KEEP_ALL | KEEP_LAST(10) | 队列策略 |
| **Durability** | VOLATILE / TRANSIENT_LOCAL | VOLATILE | 晚订阅者是否收到旧数据 |
| **Deadline** | Duration | ∞ | 最长多久发一次 |
| **Lifespan** | Duration | ∞ | 多旧的消息失效 |
## 3. 兼容规则
**关键规则** — RELIABLE ↔ BEST_EFFORT 单向兼容:
| Publisher ↓ \ Subscriber → | RELIABLE | BEST_EFFORT |
|---|---|---|
| RELIABLE | ✅ | ❌ |
| BEST_EFFORT | ✅ | ✅ |
**为什么 RELIABLE → BEST_EFFORT 不兼容**:
- RELIABLE pub 等 ACK(确保投递)
- BEST_EFFORT sub 不发 ACK
- pub 等不到 ACK → 报 "QoS incompatible"
**报错样例**:
```
[WARN] ... New subscription discovered on this topic with incompatible QoS ...
```
## 4. 9 种常用组合
| Reliability | Durability | History | 适用场景 |
|---|---|---|---|
| RELIABLE | VOLATILE | KEEP_LAST(10) | **默认 / 跨语言互通基线** |
| RELIABLE | VOLATILE | KEEP_LAST(1) | 控制指令(只关心最新) |
| RELIABLE | TRANSIENT_LOCAL | KEEP_LAST(1) | 参数 / 配置(晚订阅者也能拿到) |
| RELIABLE | VOLATILE | KEEP_ALL | 日志(必须投递,不丢) |
| RELIABLE | TRANSIENT_LOCAL | KEEP_ALL | 启动期参数 |
| BEST_EFFORT | VOLATILE | KEEP_LAST(1) | 视频流(丢一帧无所谓) |
| BEST_EFFORT | VOLATILE | KEEP_LAST(10) | Lidar / 雷达 |
| BEST_EFFORT | TRANSIENT_LOCAL | KEEP_LAST(1) | 较老的状态快照 |
| SYSTEM_DEFAULT | VOLATILE | KEEP_LAST(10) | 由 RMW 决定 |
## 5. Python API
```python
from rclpy.qos import (
QoSProfile,
ReliabilityPolicy,
HistoryPolicy,
DurabilityPolicy,
)
# 视频流:BEST_EFFORT + 深度 1
sensor_qos = QoSProfile(
reliability=ReliabilityPolicy.BEST_EFFORT,
history=HistoryPolicy.KEEP_LAST,
depth=1,
)
# 控制指令:RELIABLE + 深度 1
control_qos = QoSProfile(
reliability=ReliabilityPolicy.RELIABLE,
history=HistoryPolicy.KEEP_LAST,
depth=1,
)
# 参数:TRANSIENT_LOCAL(晚订阅者能拿历史)
param_qos = QoSProfile(
reliability=ReliabilityPolicy.RELIABLE,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
depth=1,
)
# 用
publisher_ = self.create_publisher(String, 'topic', sensor_qos)
```
## 6. C++ API
```cpp
#include "rclcpp/qos.hpp"
using namespace rclcpp;
// 视频流
auto sensor_qos = QoS(1)
.reliability(RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT)
.history(RMW_QOS_POLICY_HISTORY_KEEP_LAST);
// 参数
auto param_qos = QoS(1)
.reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE)
.durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
// 用
publisher_ = this->create_publisher<String>("topic", sensor_qos);
```
## 7. rclpy QoSProfile 详解
完整参数:
```python
QoSProfile(
# Reliability
reliability=ReliabilityPolicy.RELIABLE, # or BEST_EFFORT, SYSTEM_DEFAULT
# History
history=HistoryPolicy.KEEP_LAST, # or KEEP_ALL
depth=10, # 仅 KEEP_LAST 时有效
# Durability
durability=DurabilityPolicy.VOLATILE, # or TRANSIENT_LOCAL
# Deadline(可省)
deadline=Duration(seconds=0), # 0 = 无
# Lifespan(可省)
lifespan=Duration(seconds=0), # 0 = 无
# Liveliness(可省)
liveliness=LivelinessPolicy.SYSTEM_DEFAULT,
liveliness_lease_duration=Duration(seconds=0),
)
```
## 8. 调试 QoS 不兼容
**症状**: `ros2 topic echo` 没输出,`ros2 topic info -v` 显示 QoS incompatible 警告。
**调试步骤**:
```bash
# 1) 看 pub/sub 各自 QoS
ros2 topic info /topic -v
# 2) 检查 pub/sub 是否在同 domain
echo $ROS_DOMAIN_ID
# 3) 看具体 incompatibility
# 错误信息: PolicyKind=RMW_QOS_POLICY_RELIABILITY
```
**修法**: 改一边 QoS 匹配,或用 SYSTEM_DEFAULT。
## 9. 推荐阅读
- [ROS2 QoS 设计稿](https://design.ros2.org/articles/qos.html)
- [ROS2 Humble QoS 文档](https://docs.ros.org/en/humble/Concepts/About-Quality-of-Service.html)
- [OMG DDS 规范 v1.4](https://www.omg.org/spec/DDS/1.4/) — QoS 源头
- [FastDDS QoS 配置](https://fast-dds.docs.eprosima.com/)
- [`cpp_qos_demo` 包](../src/cpp_qos_demo/README.md)
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# 20 · ros2 bag 录制与回放 完全指南
> **目标**: 掌握 ros2 bag 命令行,能录制 topic、回放、调试、训练数据采集。
---
## 目录
- [1. 是什么](#1-是什么)
- [2. 录制 topic](#2-录制-topic)
- [3. 回放 topic](#3-回放-topic)
- [4. 查看包信息](#4-查看包信息)
- [5. 转换格式](#5-转换格式)
- [6. QoS 与 bag](#6-qos-与-bag)
- [7. VLA 训练数据采集](#7-vla-训练数据采集)
- [8. 推荐阅读](#8-推荐阅读)
---
## 1. 是什么
**ros2 bag** = ROS2 自带的 topic 录制 / 回放工具,生成 `.db3` (SQLite) 文件 + `metadata.yaml`。
用途:
- 调试:录一段数据,反复回放调试算法
- 测试:用录的数据做单元测试
- 训练:VLA / 机器学习数据采集
- 回归:确保算法在新数据上仍 work
## 2. 录制 topic
```bash
# 录制所有 topic
ros2 bag record -a -o my_bag
# 录制指定 topic
ros2 bag record /chatter /tf /joint_states -o my_bag
# 指定压缩格式
ros2 bag record /chatter -o my_bag --compression-mode file --compression-format zstd
# 限制时长
ros2 bag record /chatter -o my_bag --duration 30 # 30 秒
# 限制大小
ros2 bag record /chatter -o my_bag --max-bag-size 100000000 # 100 MB
# 排除 topic
ros2 bag record -a -o my_bag --exclude "/_.*"
```
输出:
```
my_bag/
├── metadata.yaml
└── my_bag_0.db3
```
## 3. 回放 topic
```bash
# 回放(需要原始节点还在,否则消息无 subscriber)
ros2 bag play my_bag
# 循环回放
ros2 bag play my_bag --loop
# 调整速率(2 倍速)
ros2 bag play my_bag --rate 2.0
# 从中间开始
ros2 bag play my_bag --start-offset 10 # 10 秒处开始
# 延迟发布
ros2 bag play my_bag --delay 1.0 # 每条消息延迟 1 秒
```
## 4. 查看包信息
```bash
# 概览
ros2 bag info my_bag
# YAML 格式详情
ros2 bag info my_bag --yaml
# 单个 topic 详情
ros2 bag info my_bag -t /chatter
```
输出:
```
Files: my_bag_0.db3
Bag size: 1.2 MiB
Storage id: sqlite3
Duration: 10.05s
Start: Aug 4 2026 14:00:00.123
End: Aug 4 2026 14:00:10.123
Messages: 100
Topic information: MessageType Count
std_msgs/String 100
```
## 5. 转换格式
### 导出 CSV
```bash
ros2 bag info my_bag --yaml > my_bag_info.yaml
```
### 用 rosbags 库(Python)
```python
from rosbags.rosbag2 import Reader
with Reader('my_bag') as reader:
for msg in reader.messages():
topic = msg.topic
timestamp = msg.timestamp
data = msg.message
...
```
## 6. QoS 与 bag
**关键**: 回放时 subscriber 的 QoS 必须 **兼容** publisher 的 QoS(录制时的 QoS)。
```bash
# 默认 bag 会用 RELIABLE 录制,如果你用 BEST_EFFORT subscriber,会报错
# 解决:用 --qos-profile-overrides 覆盖回放 QoS
ros2 bag play my_bag --qos-profile-overrides-path qos_override.yaml
```
`qos_override.yaml`:
```yaml
/chatter:
reliability: best_effort
history: keep_last
depth: 1
```
## 7. VLA 训练数据采集
OpenVLA / π0 等模型需要大量 (image, instruction, action) 三元组。ROS2 bag 录制:
```bash
# 录制图像 + 关节 + 指令
ros2 bag record \
/camera/color/image_raw \
/camera/depth/color/points \
/joint_states \
/ee_pose \
/task_instruction \
-o vla_episode_001
```
回放 + 转 VLA 训练格式:
```python
from rosbags.rosbag2 import Reader
from cv_bridge import CvBridge
import numpy as np
bridge = CvBridge()
samples = []
with Reader('vla_episode_001') as reader:
for msg in reader.messages():
if msg.topic == '/camera/color/image_raw':
image = bridge.imgmsg_to_cv2(msg.message, 'bgr8')
samples.append({'image': image, 'timestamp': msg.timestamp})
```
## 8. 推荐阅读
- [ROS2 bag 命令行](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Recording-And-Playing-Back-Data.html)
- [rosbags Python 库](https://github.com/idx-lab/rosbags)
- [Foxglove Studio(可视化 bag)](https://studio.foxglove.dev/)
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# 21 · DDS 配置 + colcon overlay 完全指南
> **目标**: 理解 ROS2 DDS 中间件配置、colcon overlay 混合工作空间,能为多机 / 跨网段部署做正确配置。
---
## 目录
- [1. DDS 是什么](#1-dds-是什么)
- [2. RMW 实现](#2-rmw-实现)
- [3. 关键环境变量](#3-关键环境变量)
- [4. domain ID 隔离](#4-domain-id-隔离)
- [5. 跨网段发现](#5-跨网段发现)
- [6. Cyclone DDS 配置](#6-cyclone-dds-配置)
- [7. colcon overlay](#7-colcon-overlay)
- [8. 三机部署实操](#8-三机部署实操)
- [9. 推荐阅读](#9-推荐阅读)
---
## 1. DDS 是什么
**DDS (Data Distribution Service)** = OMG 制定的实时通信中间件标准。
ROS2 默认用 DDS 做底层通信,不同 RMW 实现:
- `rmw_fastrtps_cpp`(默认,Fast DDS)
- `rmw_cyclonedds_cpp`(Cyclone DDS)
DDS 提供:
- 自动节点发现(基于 UDP multicast)
- 多种 QoS
- 实时性(零拷贝、共享内存)
## 2. RMW 实现
| RMW | 包 | 适用 |
|---|---|---|
| `rmw_fastrtps_cpp` | `ros-humble-rmw-fastrtts-cpp` | 通用,默认 |
| `rmw_cyclonedds_cpp` | `ros-humble-rmw-cyclonedds-cpp` | 跨网段 / Xenomai 实时 |
切换:
```bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# 然后 colcon build + 启动节点
```
**注意**: 切换 RMW 后必须 `rm -rf build/ install/ log/` 再 build,否则 CMake 配置缓存导致 link 错误。
## 3. 关键环境变量
| 变量 | 用途 | 默认 |
|---|---|---|
| `ROS_DOMAIN_ID` | DDS 域 ID(0-232) | 0 |
| `RMW_IMPLEMENTATION` | RMW 实现 | `rmw_fastrtts_cpp` |
| `ROS_STATIC_PEERS` | 跨网段单播发现 | `<unset>` |
| `ROS_DISCOVERY_SERVER` | 集中式发现服务 | `<unset>` |
| `ROS_LOCALHOST_ONLY` | 仅本机 | 0 |
| `CYCLONE_DDS_URI` | Cyclone DDS XML 配置 URI | `<unset>` |
| `FASTRTPS_DEFAULT_PROFILES_FILE` | FastDDS XML 配置路径 | `<unset>` |
## 4. domain ID 隔离
同 `ROS_DOMAIN_ID` 才能互通,改 ID 就隔离:
```bash
# PC 端
ROS_DOMAIN_ID=42 ros2 launch my_pkg demo.py
# RK3506 端
ROS_DOMAIN_ID=42 ros2 launch my_pkg demo.py
# 两端可见
# 改 ID 后不可见
ROS_DOMAIN_ID=43 ros2 launch my_pkg demo.py
```
**注意**: 域 ID 范围 0-232(ROS2 DDS 协议)。
## 5. 跨网段发现
### 问题
UDP multicast **不跨路由器**,跨网段(如 192.168.1.x ↔ 192.168.2.x)默认看不见。
### 方案 1: 单播发现 (`ROS_STATIC_PEERS`)
```bash
# PC 端(知道 RK3506 IP)
ROS_STATIC_PEERS="192.168.2.10;192.168.2.11" \
ros2 launch my_pkg demo.py
```
### 方案 2: Discovery Server
```bash
# PC 端启 discovery server
ros2 run discovery_server discovery_server --address 0.0.0.0 --port 11811
# 客户端
export ROS_DISCOVERY_SERVER=192.168.2.10:11811
ros2 launch my_pkg demo.py
```
### 方案 3: Cyclone DDS LAN 配置
`cyclonedds.xml`:
```xml
<CycloneDDS>
<NetworkInterface name="eth0" priority="default" multicast="default"/>
</CycloneDDS>
```
## 6. Cyclone DDS 配置
### 安装
```bash
sudo apt install ros-humble-rmw-cyclonedds-cpp
```
### 配置 XML
```bash
export CYCLONE_DDS_URI=file:///etc/cyclonedds.xml
```
`/etc/cyclonedds.xml`:
```xml
<?xml version="1.0" version="1.0"?>
<CycloneDDS xmlns="https://cdds.io/config">
<Domain id="any">
<General>
<Interfaces>
<NetworkInterface autodetermine="true" priority="default" multicast="default"/>
</Interfaces>
</General>
</Domain>
</CycloneDDS>
```
## 7. colcon overlay
**colcon overlay** = 多个 colcon 工作空间叠加,后者覆盖前者(同名包优先用 overlay)。
### 工作流
```bash
# 主工作空间 base(完整)
mkdir -p ~/ros2_main_ws/src
cd ~/ros2_main_ws/src
git clone <完整仓库> # 或 git pull
cd ..
colcon build --symlink-install # build 全部
# overlay 工作空间(只 build 修改的包)
mkdir -p ~/ros2_overlay_ws/src
cd ~/ros2_overlay_ws/src
# 符号链接主工作空间的 src(只覆盖你想改的包)
ln -s ~/ros2_main_ws/src/my_pkg .
# 修改 my_pkg
cd ..
colcon build --symlink-install --packages-select my_pkg
# 激活:先 base 后 overlay
source ~/ros2_main_ws/install/setup.bash
source ~/ros2_overlay_ws/install/setup.bash # 覆盖
```
### 典型场景
- **稳定版 + 开发版**:base 用稳定版,overlay 跑新代码
- **共享代码 + 私有修改**:base 装共享库,overlay 装你的定制
- **CI**:base 装大型依赖,overlay 只 build 改的
## 8. 三机部署实操
**典型拓扑**:
```
PC (192.168.1.10, ROS_DOMAIN_ID=0)
│
├─ RDK X5 (192.168.1.20, ROS_DOMAIN_ID=0)
│
└─ RK3506 × 2 (192.168.1.30, 192.168.1.31, ROS_DOMAIN_ID=0)
```
**配置**: 三机同 ROS_DOMAIN_ID + 同 LAN,FastDDS multicast 自动发现。
**RK3506 精简**: 用 `ros-humble-ros-base`,关 daemon:
```bash
# 装精简包
sudo apt install ros-humble-ros-base
# 关 daemon(省内存)
sudo systemctl disable --now ros2-daemon
# 设置环境变量(~/.bashrc)
export ROS_DOMAIN_ID=0
source /opt/ros/humble/setup.bash
```
详见 [`doc/100-embedded-deployment.md`](100-embedded-deployment.md)。
## 9. 推荐阅读
- [ROS2 DDS 概念](https://docs.ros.org/en/humble/Concepts/About-DDS-Implementations.html)
- [FastDDS 文档](https://fast-dds.docs.eprosima.com/)
- [Cyclone DDS 文档](https://cyclonedds.io/docs/)
- [colcon 文档](https://colcon.readthedocs.io/)
- [REP-2002 ROS 2 Design](https://www.ros.org/reps/rep-2002.html)
- [`py_overlay_dds` 包](../src/py_overlay_dds/README.md)
- [三机部署实操](100-embedded-deployment.md)
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# 编程规范 (CODING_STYLE) — ROS2 + Python + C++
> **目标**: 让本仓库所有代码符合 **ROS2 REP-2000** + **PEP 8** + **工业级实践**,
> 从第一行代码就**专业、严谨、可维护**,为后续具身智能 / VLA 落地铺平基础。
>
> **适用范围**: 本仓库所有 Python (rclpy) / C++ (rclcpp) 代码 + 测试 + launch + 文档。
>
> **权威参考**:
> - [ROS2 REP-2000: ROS 2 Design](https://www.ros.org/reps/rep-2002.html)
> - [ROS2 Humble Code Style](https://docs.ros.org/en/humble/Contributing/Code-Style-Language-Versions.html)
> - [PEP 8](https://peps.python.org/pep-0008/) / [PEP 257](https://peps.python.org/pep-0257/) / [PEP 484](https://peps.python.org/pep-0484/)
> - [Google Python Style Guide](https://google.github.io/styleguide/pyguide.html)
> - [ROS2 Design: Parameter](https://design.ros2.org/articles/ros_parameters.html)
---
## 目录
- [1. 设计原则](#1-设计原则)
- [2. Python 规范 (rclpy)](#2-python-规范-rclpy)
- [3. C++ 规范 (rclcpp)](#3-c-规范-rclcpp)
- [4. 测试规范](#4-测试规范)
- [5. ROS2 特定规范](#5-ros2-特定规范)
- [6. 文档规范](#6-文档规范)
- [7. Git 规范](#7-git-规范)
- [8. 错误处理 + 日志规范](#8-错误处理--日志规范)
- [9. 反模式 (Anti-Patterns)](#9-反模式-anti-patterns)
---
## 1. 设计原则
### 1.1 五大铁律
| # | 原则 | 含义 |
|---|---|---|
| 1 | **配置与代码解耦** | 参数 / YAML / launch 传值,代码不硬编码 |
| 2 | **错误显式处理** | callback 异常用 try/except + `get_logger().error`,不静默吞 |
| 3 | **可测试优先** | 每个包至少 1 个 pytest/gtest,关键路径 100% 覆盖 |
| 4 | **接口契约清晰** | type hints / docstring / 错误码 三件套 |
| 5 | **命名即文档** | `publisher_` 不是 `pub`,`timer_callback` 不是 `cb` |
### 1.2 SOLID 简化版
- **S** (Single Responsibility): 一个节点一个职责,不要混合"传感器读取 + 控制 + 日志上传"
- **O** (Open-Closed): 通过参数和 launch 扩展,不改代码
- **L** (Liskov): 子类可替换父类(虚函数 override)
- **I** (Interface Segregation): 接口小而专,避免上帝节点
- **D** (Dependency Inversion): 依赖抽象 (msg / service / action 类型),不依赖实现
---
## 2. Python 规范 (rclpy)
### 2.1 命名 (Naming)
| 类型 | 规则 | 例子 |
|---|---|---|
| 模块 | `snake_case` | `publisher_node.py` |
| 类 | `PascalCase` | `ChatterPublisher` (不是 `MyPublisher`) |
| 节点属性 | `snake_case_`(后缀下划线) | `self.publisher_`, `self.timer_` |
| 私有方法 | `_snake_case` | `def _on_timer(self)` |
| 常量 | `UPPER_SNAKE_CASE` | `DEFAULT_RATE_HZ = 1.0` |
| ROS2 节点名 | `snake_case`,表示功能 | `chatter_publisher` (不是 `node1`) |
| ROS2 话题名 | `snake_case`,可加前缀 | `/chatter`, `/robot1/joint_states` |
| ROS2 参数名 | `snake_case` | `publish_rate_hz` (不是 `period_ms` 混用) |
**关键:节点属性后缀下划线**避免与 rclpy 内部方法同名(`timer`, `publisher`, `subscription` 都是 rclpy 内部属性)。
### 2.2 Type Hints (必填)
```python
# Python 3.10+ 用内置类型,不用 typing.List/Dict
from typing import List # 除非必要,否则不导入
class ChatterPublisher(Node):
def __init__(self) -> None:
super().__init__('chatter_publisher')
self.declare_parameter('publish_rate_hz', 1.0)
rate: float = self.get_parameter('publish_rate_hz').value
self.publisher_: Publisher[String] = self.create_publisher(String, 'chatter', 10)
```
### 2.3 Docstring (Google Style)
```python
"""ChatterPublisher - 周期性发布 String 到 /chatter 话题。
设计思想:
ROS2 Topic 是异步多对多单向通信,本节点演示:
1. 参数声明 + 类型推断
2. 周期性发布 + QoS
3. 优雅退出(KeyboardInterrupt + rclpy.shutdown)
参考:
- ROS2 设计稿 https://design.ros2.org/articles/topic_and_service.html
- QoS 文档 https://docs.ros.org/en/humble/Concepts/About-Quality-of-Service.html
"""
```
类/方法的 docstring 模板:
```python
class Foo:
"""类的一句话描述。"""
def method(self, arg: int) -> bool:
"""方法的一句话描述。
Args:
arg: 参数描述。
Returns:
返回值描述。
Raises:
ValueError: 何时抛。
"""
```
### 2.4 节点模板 (必背)
```python
"""<NodeName> — <一句话描述>"""
from typing import List, Optional
import rclpy
from rclpy.node import Node
from rclpy.publisher import Publisher
from std_msgs.msg import String
class MyNode(Node):
"""节点描述。"""
DEFAULT_RATE_HZ: float = 1.0
DEFAULT_TOPIC: str = 'chatter'
QUEUE_SIZE: int = 10
def __init__(self, *, node_name: str = 'my_node') -> None:
super().__init__(node_name)
# 1) 声明参数(类型由默认值推断)+ 描述符
self.declare_parameter(
'publish_rate_hz', self.DEFAULT_RATE_HZ,
descriptor='发布频率 (Hz), 大于 0 的浮点数',
)
# 2) 读取参数 + 构造组件
rate: float = self.get_parameter('publish_rate_hz').value
self.publisher_: Publisher[String] = self.create_publisher(
String, self.DEFAULT_TOPIC, self.QUEUE_SIZE,
)
period: float = 1.0 / rate if rate > 0 else 1.0
self.timer_ = self.create_timer(period, self._on_timer)
# 3) 内部状态(下划线)
self._publish_count: int = 0
self.get_logger().info(f'MyNode started: rate={rate}Hz')
def _on_timer(self) -> None:
"""定时器回调(下划线=内部方法)。"""
msg = String()
msg.data = f'Hello #{self._publish_count}'
self.publisher_.publish(msg)
self._publish_count += 1
def main(args: Optional[List[str]] = None) -> None:
"""ROS2 节点入口(标准模板)。"""
rclpy.init(args=args)
try:
node = MyNode()
rclpy.spin(node)
except KeyboardInterrupt:
pass
finally:
if rclpy.ok():
rclpy.shutdown()
if __name__ == '__main__':
main()
```
### 2.5 包结构 (ament_python)
```
src/<package_name>/
├── package.xml # ROS2 包元数据
├── setup.py # Python 包配置 + entry_points
├── setup.cfg # ament_python install 路径
├── resource/<package_name> # 空文件,只用于 ament 索引
├── <package_name>/ # Python 模块
│ ├── __init__.py
│ └── <node_module>.py
├── launch/ # launch 文件 (被 colcon 安装)
│ └── <name>_launch.py
├── config/ # YAML 配置文件
│ └── default.yaml
├── urdf/ # (可选) URDF
├── srv/ msg/ action/ # (可选) 自定义接口
├── test/ # pytest 用例
│ ├── conftest.py # 共享 fixture
│ └── test_<unit>.py
└── README.md # 包自描述文档(每个包必须有)
```
### 2.6 setup.py 模板
```python
from setuptools import setup
import os
from glob import glob
PACKAGE_NAME = '<package_name>'
setup(
name=PACKAGE_NAME,
version='0.1.0',
packages=[PACKAGE_NAME],
data_files=[
('share/ament_index/resource_index/packages', ['resource/' + PACKAGE_NAME]),
('share/' + PACKAGE_NAME, ['package.xml']),
(os.path.join('share', PACKAGE_NAME, 'launch'), glob('launch/*.py')),
(os.path.join('share', PACKAGE_NAME, 'config'), glob('config/*.yaml')),
(os.path.join('share', PACKAGE_NAME, 'urdf'), glob('urdf/*')),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='<name>',
maintainer_email='<email>',
description='<一句话描述>',
license='MIT',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'<exec_name> = <package_name>.<module>:main',
],
},
)
```
### 2.7 package.xml 模板
```xml
<?xml version="1.0"?>
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name><package_name></name>
<version>0.1.0</version>
<description><一句话描述,详细功能></description>
<maintainer email="<email>"><name></maintainer>
<license>MIT</license>
<!-- 运行依赖 -->
<depend>rclpy</depend>
<depend>std_msgs</depend>
<!-- 测试依赖 -->
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>
```
---
## 3. C++ 规范 (rclcpp)
### 3.1 命名
| 类型 | 规则 | 例子 |
|---|---|---|
| 类 | `PascalCase` | `ChatterPublisher` |
| 函数/方法 | `snake_case` (ROS2 风格) | `timer_callback()` |
| 成员变量 | `snake_case_`(后缀下划线) | `publisher_`, `count_` |
| 常量 | `kPascalCase` 或 `UPPER_SNAKE` | `kDefaultRate` 或 `DEFAULT_RATE` |
| 命名空间 | `snake_case` | `my_robot::control` |
### 3.2 必须项
- **智能指针**: `std::shared_ptr<T>` + `std::make_shared<T>()`
- **`override`**: 虚函数必须标
- **`const`**: 不修改成员的方法加 `const`
- **`explicit`**: 单参数构造加 `explicit`
- **`#pragma once`**: 头文件用
- **`nullptr`**: 不用 `NULL`
### 3.3 节点模板
```cpp
// chatter_publisher.hpp
#pragma once
#include <chrono>
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
namespace my_robot
{
class ChatterPublisher : public rclcpp::Node
{
public:
explicit ChatterPublisher(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
private:
void timer_callback();
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
size_t count_;
};
} // namespace my_robot
```
```cpp
// chatter_publisher.cpp
#include "my_robot/chatter_publisher.hpp"
namespace my_robot
{
using namespace std::chrono_literals;
ChatterPublisher::ChatterPublisher(const rclcpp::NodeOptions & options)
: rclcpp::Node("chatter_publisher", options), count_(0)
{
this->declare_parameter<int>("period_ms", 500);
this->declare_parameter<std::string>("topic", "chatter");
const int period_ms = this->get_parameter("period_ms").as_int();
const std::string topic = this->get_parameter("topic").as_string();
publisher_ = this->create_publisher<std_msgs::msg::String>(topic, 10);
timer_ = this->create_wall_timer(
std::chrono::milliseconds(period_ms),
std::bind(&ChatterPublisher::timer_callback, this));
RCLCPP_INFO(this->get_logger(),
"ChatterPublisher started: topic=%s, period=%dms",
topic.c_str(), period_ms);
}
void ChatterPublisher::timer_callback()
{
auto msg = std_msgs::msg::String();
msg.data = "Hello from C++, seq=" + std::to_string(count_++);
publisher_->publish(msg);
}
} // namespace my_robot
// main
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<my_robot::ChatterPublisher>());
rclcpp::shutdown();
return 0;
}
```
### 3.4 CMakeLists.txt 模板
```cmake
cmake_minimum_required(VERSION 3.16)
project(my_robot LANGUAGES CXX)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
set(THIS_PACKAGE_INCLUDE_DEPENDS
rclcpp
std_msgs
)
# 头文件库
add_library(${PROJECT_NAME}_core SHARED
src/chatter_publisher.cpp
)
target_include_directories(${PROJECT_NAME}_core PUBLIC src)
ament_target_dependencies(${PROJECT_NAME}_core ${THIS_PACKAGE_INCLUDE_DEPENDS})
# 可执行文件
add_executable(chatter_publisher src/main.cpp)
target_link_libraries(chatter_publisher ${PROJECT_NAME}_core)
# 安装
install(TARGETS chatter_publisher
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY launch config
DESTINATION share/${PROJECT_NAME}
)
ament_package()
```
### 3.5 测试 (gtest)
```cpp
// test/test_chatter_publisher.cpp
#include <gtest/gtest.h>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "my_robot/chatter_publisher.hpp"
class ChatterPublisherTest : public ::testing::Test
{
protected:
static void SetUpTestSuite() { rclcpp::init(0, nullptr); }
static void TearDownTestSuite() { rclcpp::shutdown(); }
};
TEST_F(ChatterPublisherTest, ConstructsWithDefaults)
{
auto node = std::make_shared<my_robot::ChatterPublisher>();
EXPECT_EQ(node->get_name(), std::string("chatter_publisher"));
EXPECT_EQ(node->get_parameter("period_ms").as_int(), 500);
EXPECT_EQ(node->get_parameter("topic").as_string(), std::string("chatter"));
}
TEST_F(ChatterPublisherTest, PublishesMessages)
{
auto node = std::make_shared<my_robot::ChatterPublisher>();
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
exec->add_node(node);
const auto end = std::chrono::steady_clock::now() + std::chrono::seconds(1);
while (std::chrono::steady_clock::now() < end) {
exec->spin_some(std::chrono::milliseconds(50));
}
SUCCEED();
}
```
---
## 4. 测试规范
### 4.1 测试金字塔
```
┌─────────────┐
│ E2E (1-3) │ ← launch_testing + 真实场景
├─────────────┤
│ Integ (4-8) │ ← 同进程 spin + DDS
├─────────────┤
│ Unit (10+) │ ← 纯函数 / 参数声明 / 消息构造
└─────────────┘
```
### 4.2 pytest 模板 (conftest.py)
```python
"""共享 fixture - 整个仓库所有 Python 包共用一套模式。"""
from typing import Iterator
import pytest
import rclpy
@pytest.fixture(scope='session')
def ros_context() -> Iterator[None]:
"""整个 session 共享 rclpy 上下文(避免反复 init/shutdown 引发 bug)。"""
rclpy.init()
try:
yield
finally:
if rclpy.ok():
rclpy.shutdown()
@pytest.fixture
def node(ros_context: None) -> Iterator:
"""每个测试一个独立节点实例。"""
from <package>.<module> import MyNode
instance = MyNode()
try:
yield instance
finally:
instance.destroy_node()
```
### 4.3 测试命名
```python
def test_<unit>_<scenario>_<expected>():
"""例: test_publisher_init_with_default_rate_uses_1hz"""
```
### 4.4 测试覆盖要求
| 层级 | 数量 | 内容 |
|---|---|---|
| Unit | ≥3 | 参数声明 / 默认值 / 关键方法调用 |
| Integ | ≥2 | 同进程 spin / DDS roundtrip |
| E2E | 1 (可选) | 完整 launch + 多节点 |
---
## 5. ROS2 特定规范
### 5.1 节点命名
- **节点名**: `snake_case`,表示功能(`chatter_publisher` 不是 `node1`)
- **节点必须有 docstring**: 一句话说清做什么
- **节点类名 = 节点名 CamelCase**: `ChatterPublisher` ↔ `chatter_publisher`
- **不混用**: `MyNode` 这种名字只用于基类,不要直接用
### 5.2 参数
- **参数名 `snake_case`**: `publish_rate_hz`, `topic_name`, `frame_id`
- **带单位后缀**: `_hz`, `_ms`, `_sec`, `_bytes` (避免歧义)
- **声明时给 `descriptor`**: 便于 `ros2 param describe`
- **运行时不变参数**: `readonly=True`
- **运行时可变**: 注册 `add_on_set_parameters_callback` 校验
### 5.3 消息 / Service / Action
- **优先标准接口**: `std_msgs` / `sensor_msgs` / `geometry_msgs` / `example_interfaces`
- **必须自定义时**: 在自己包内 `msg/`, `srv/`, `action/`
- **字段命名**: `snake_case`,带单位 (`velocity_mps`)
- **不要嵌指针 / 引用类型**: 用 ID (`string object_id`) 而非 `string&`
### 5.4 QoS
- **默认 RELIABLE + KEEP_LAST(10)**: 跨语言互通零障碍
- **传感器流**: BEST_EFFORT + KEEP_LAST(1)
- **控制指令**: RELIABLE + KEEP_LAST(1) + DEADLINE
- **状态发布**: TRANSIENT_LOCAL + KEEP_LAST(1)
### 5.5 Launch 文件
- **函数签名**: `def generate_launch_description() -> LaunchDescription`
- **可配置参数**: 用 `LaunchConfiguration` + `DeclareLaunchArgument`
- **路径**: `PathJoinSubstitution` + `FindPackageShare`
- **嵌套**: `IncludeLaunchDescription` + `PythonLaunchDescriptionSource`
- **节点命名空间**: 必要时 `PushRosNamespace`
### 5.6 TF
- **frame_id `snake_case`**: `base_link`, `gripper`, `camera_optical_frame`
- **REP-103 约定**: x 前, y 左, z 上 (右手系)
- **REP-105 语义**: `map` → `odom` → `base_link`
---
## 6. 文档规范
### 6.1 每个文件 docstring (必填)
```python
"""<文件名> - <一句话功能描述>。
功能:
- 列出要点 1
- 列出要点 2
关键概念:
- ROS2 概念 1
- ROS2 概念 2
运行方式:
ros2 run <pkg> <exec>
参考:
- 官方文档链接
"""
```
### 6.2 包内 README.md (必填)
每个包必须有 `README.md`,包含:
1. **功能**(一句话)
2. **关键概念**(表格)
3. **运行**(代码块,3-5 种)
4. **测试**(代码块)
5. **深度学习链接**(指向 doc/ 下的文档)
### 6.3 commit message
```
<type>(<scope>): <subject>
<body>
<footer>
类型: feat / fix / docs / style / refactor / test / chore
例子:
feat(py_pubsub): 重写 publisher 为工业级风格 + type hints
fix(cpp_robot_tf2): 加 const-correct 与 override
docs(doc/15-params): 新增参数系统深度文档
```
---
## 7. Git 规范
- **分支命名**: `feat/<name>` / `fix/<name>` / `docs/<name>`
- **commit**: 中文/英文都行,但 subject ≤ 72 字符
- **不修改全局 git config**: 用 `git -c user.name=x -c user.email=y commit` 临时设
- **.gitignore**: 必须包含 `build/`, `install/`, `log/`, `.venv/`, `__pycache__/`
---
## 8. 错误处理 + 日志规范
### 8.1 日志级别
| 级别 | 何时用 |
|---|---|
| DEBUG | 周期事件(默认不打印,生产可用 `--log-level DEBUG` 看) |
| INFO | 启动 / 关闭 / 配置变更 |
| WARN | 异常但可恢复 |
| ERROR | 操作失败但节点继续 |
| FATAL | 节点即将退出 |
### 8.2 错误处理
```python
# ✅ 正确: callback 里 try/except + 日志
def _on_timer(self) -> None:
try:
msg = self._build_message()
self.publisher_.publish(msg)
except Exception as exc:
self.get_logger().error(f'publish failed: {exc}', exc_info=True)
# ❌ 错: 让异常冒泡,节点崩
def _on_timer(self) -> None:
msg = self._build_message()
self.publisher_.publish(msg)
```
### 8.3 优雅退出
```python
def main(args=None):
rclpy.init(args=args)
try:
node = MyNode()
rclpy.spin(node)
except KeyboardInterrupt:
node.get_logger().info('KeyboardInterrupt → 退出')
finally:
if rclpy.ok():
rclpy.shutdown()
```
---
## 9. 反模式 (Anti-Patterns)
### 9.1 ❌ 不要
```python
# ❌ 1) 节点名不规范
super().__init__('node1')
# ❌ 2) 硬编码
self.publisher_ = self.create_publisher(String, 'chatter', 10) # topic 不可配
# ❌ 3) 无 type hints
def callback(self, msg):
pass
# ❌ 4) 无 docstring
class MyNode(Node):
def __init__(self):
...
# ❌ 5) print 而不是日志
print('starting...')
# ❌ 6) callback 里阻塞 / 抛异常
def _on_timer(self):
result = blocking_io_call()
self.publisher_.publish(result) # 如果 blocking_io_call 抛 → 节点崩
# ❌ 7) 重复 init/shutdown
def test_a():
rclpy.init()
...
rclpy.shutdown()
def test_b():
rclpy.init() # 第二次 init → 异常
# ❌ 8) 命名混淆
self.pub = self.create_publisher(...) # pub 是 keyword 别用
self.timer = self.create_timer(...) # timer 是 rclpy 内部属性,会冲突
# ❌ 9) 包名叫 launch (与 ROS2 系统包冲突)
# 包名必须不能与 ROS2 自带包同名
```
### 9.2 ✅ 要
```python
# ✅ 1) 节点名表示功能
super().__init__('chatter_publisher')
# ✅ 2) 参数化
self.declare_parameter('topic', 'chatter')
topic = self.get_parameter('topic').value
# ✅ 3) 完整 type hints
def _on_timer(self) -> None:
msg: String = self._build_message()
# ✅ 4) Google style docstring
class ChatterPublisher(Node):
"""ChatterPublisher - 周期性发布 String 到 /chatter 话题。"""
# ✅ 5) 用 get_logger
self.get_logger().info('starting...')
# ✅ 6) callback 里 try/except
def _on_timer(self) -> None:
try:
...
except Exception as exc:
self.get_logger().error(f'failed: {exc}')
# ✅ 7) conftest.py 共享 fixture
# 在 conftest.py 里做 session-scope rclpy.init
# ✅ 8) 节点属性后缀下划线
self.publisher_: Publisher[String] = self.create_publisher(...)
self.timer_: Timer = self.create_timer(...)
# ✅ 9) 包名避让 ROS2 系统包
# 用 bringup, my_robot, my_arm 等
```
---
## 10. 自检清单 (提交前)
- [ ] 每个文件顶部有 docstring(功能 / 关键概念 / 运行方式 / 参考)
- [ ] 类 / 方法有 Google-style docstring
- [ ] 所有函数有 type hints
- [ ] 节点名 `snake_case`,类名 `PascalCase`,属性后缀 `_`
- [ ] 参数带 `descriptor` 描述
- [ ] callback 有 try/except
- [ ] 测试用 conftest.py 共享 fixture
- [ ] 包内有 README.md
- [ ] `colcon build` 通过
- [ ] `colcon test` 100% 通过
- [ ] commit message 含 type(scope): subject
---
**违反任何一条,代码不得合并。**
**一切为了:专业 / 严谨 / 可维护 / 为后续 VLA 落地铺路。**
docker/docker-compose.yml
+37 -23
View File
@@ -1,44 +1,58 @@
# =============================================================================
# docker-compose.yml —— 用 docker-compose 编排 ROS2 开发容器。
# docker-compose.yml - ROS2 开发容器编排
#
# 与裸 docker run 相比,docker-compose 提供:
# - YAML 声明式配置(易读、易版本管理)
# - 一键 build / up / down / logs
# - 多服务依赖、网络、卷的统一管理
# =============================================================================
# 关键改动(vs 原版):
# 1. 加 `name: ros2` —— 独立 compose project,脱离默认 `docker` 分组
# 2. 用 `networks: ros2_net`(自定义 bridge)替代 host network
# - 便于跨机器部署时统一 IP 段
# - 与系统 docker_default 隔离,不让 ROS 节点被无关容器发现
#
# 使用:
# docker compose -p ros2 -f docker/docker-compose.yml build
# docker compose -p ros2 -f docker/docker-compose.yml up -d
# docker compose -p ros2 -f docker/docker-compose.yml down
name: ros2
services:
ros2:
# build: 用同目录的 Dockerfile 构建镜像。
# image: 同时打标签,后续 docker-compose down 不会丢镜像。
# build: 同目录 Dockerfile
build: .
image: ros2-humble-dev:latest
container_name: ros2_dev
# privileged: 特权模式,便于以后调系统工具(默认足够,不必开)。
# 特权模式(便于系统工具调试)
privileged: true
# stdin_open + tty:docker exec -it 时能获得交互式 shell。
stdin_open: true
tty: true
# network_mode: host —— 让容器使用主机网络栈。
# 重要:DDS 默认走 UDP 多播,跨容器/跨主机时必须可见;
# host 网络让多容器间直接互见,适合单机多机的快速调试。
network_mode: host
# 用自定义网络(脱离 docker_default)
networks:
ros2_net:
ipv4_address: 172.20.0.10 # 固定 IP,便于 ROS_STATIC_PEERS
environment:
# ROS_DOMAIN ID:0~232(默认 0);同一 ID 的节点互相可见,
# 同一机器多项目互不干扰时给每个项目不同 ID。
# ROS Domain ID(0-232,默认 0)
- ROS_DOMAIN_ID=0
# RMW 留空,使用 ROS2 Humble 默认的 rmw_fastrtps_cpp;
# 若要切换到 Cyclone DDS,需先在镜像内 apt install ros-humble-rmw-cyclonedds-cpp。
# 用 FastDDS 默认(留空)
# - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
# 关键卷挂载:把宿主的整个 ros2 工程(上一级目录) 挂到容器 /root/ros2_ws,
# 改动代码即时同步,容器内 colcon build 即可生效。
# 容器内 PATH 自动 source ROS2
- RCUTILS_COLORIZED_OUTPUT=1
# bind mount:整个工程挂到 /root/ros2_ws
volumes:
- ..:/root/ros2_ws
working_dir: /root/ros2_ws
# 容器内默认命令:tail -f /dev/null 让容器"挂起不死",
# 用户再 docker exec 进去手动开发。
# 容器长跑(用户 exec 进去)
command: ["bash", "-lc", "tail -f /dev/null"]
# 自定义网络(脱离 docker_default)
networks:
ros2_net:
driver: bridge
ipam:
config:
- subnet: 172.20.0.0/24
gateway: 172.20.0.1
src/bringup/README.md
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@@ -0,0 +1,57 @@
# bringup
顶层 launch 聚合包。属于 Level 1 跨包集成层。
## 6 个 launch 文件
| 文件 | 启动节点 | 数量 |
|---|---|---|
| `pubsub_launch.py` | py_pubsub + cpp_pubsub 的 pub/sub | 4 |
| `service_launch.py` | add_two_ints_server | 1 |
| `action_launch.py` | fibonacci_action_server | 1 |
| `robot_launch.py` | URDF + JointState + TF(nested `cpp_robot_tf2`) | 3 |
| `vision_launch.py` | fake_camera + image_processor(nested `py_vision_demo`) | 2 |
| `full_demo_launch.py` | 上面所有组合 | **11** |
## 关键设计
- **不实现业务节点** — 只用 `IncludeLaunchDescription` 复用其他包的 launch
- **跨包嵌套** — `robot_launch.py` / `vision_launch.py` 用 `FindPackageShare` + `PythonLaunchDescriptionSource` 引用单包 launch
- **包名避让** — 包名是 `bringup`,**不是** `launch`(与 ROS2 系统包同名会冲突)
## 运行
```bash
# 各 demo 单独启动
ros2 launch bringup pubsub_launch.py
ros2 launch bringup service_launch.py
ros2 launch bringup action_launch.py
ros2 launch bringup robot_launch.py
ros2 launch bringup vision_launch.py
# 全开(11 节点同时跑)
ros2 launch bringup full_demo_launch.py
```
## 验证端到端
```bash
# 跨包跨语言 Topic:PY + CPP 同时发,listener 都收到
ros2 launch bringup pubsub_launch.py
ros2 topic info /chatter -v
# 预期:Publication count: 2, Subscription count: 2
# Action
ros2 launch bringup action_launch.py
ros2 action send_goal /fibonacci example_interfaces/action/Fibonacci "{order: 6}" --feedback
# Service
ros2 launch bringup service_launch.py
ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 12, b: 30}"
# 预期: sum: 42
```
## 深度学习
- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md) §5.5
- launch 深度:[`doc/70-launch.md`](../doc/70-launch.md)
src/bringup/bringup/__init__.py
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"""bringup - 顶层 launch 聚合包。
属于 Level 1 跨包集成层。
职责:
提供 6 个聚合 launch 文件,把其他 6 包按业务场景组装:
- pubsub_launch.py: 4 节点 Topic(pubsub, py+cpp)
- service_launch.py: AddTwoInts server
- action_launch.py: Fibonacci server
- robot_launch.py: URDF + JointState + TF(python_robot_tf2 嵌套)
- vision_launch.py: fake_camera + image_processor
- full_demo_launch.py: 11 节点同时运行
设计思想:
- 用 IncludeLaunchDescription 复用其他包的 launch(避免代码复制)
- 用 FindPackageShare 跨平台安全定位包路径
- 节点名后缀 _py / _cpp 区分来源
- 不实现任何业务节点(只组合)
参考:
- ROS2 launch 文档 https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/launch-system.html
- 编程规范 doc/CODING_STYLE.md
"""
src/bringup/launch/action_launch.py
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@@ -1,20 +1,15 @@
"""
action_launch.py —— 启动 Fibonacci Action 服务端。
client 不在此 launch,按需手动调用:
ros2 action send_goal /fibonacci example_interfaces/action/Fibonacci "{order: 8}" --feedback
"""
"""action_launch.py - 启动 Fibonacci Action server。"""
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:FibonacciActionServer。"""
return LaunchDescription([
Node(
package='py_action_demo',
executable='fibonacci_server',
name='fibonacci_action_server_py',
executable='fibonacci_action_server',
name='fibonacci_action_server',
output='screen',
),
])
src/bringup/launch/full_demo_launch.py
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@@ -1,35 +1,47 @@
"""full_demo_launch.py - 同时启动所有 11 个节点。
节点组合:
- 2 Publisher(py + cpp)
- 2 Subscriber(py + cpp)
- 1 AddTwoInts server
- 1 Fibonacci server
- 1 JointState publisher(C++)
- 1 robot_state_publisher(系统包)
- 1 TF2 listener(C++)
- 1 fake_camera(Python)
- 1 image_processor(Python)
总计:11 个 ROS2 节点同时运行。
"""
full_demo_launch.py —— 整合所有 demo(全套启动)。
启动的节点:
- 4 个 pub/sub 节点(pubsub)
- add_two_ints server(srv)
- fibonacci action server(action)
- 3 节点 URDF TF2(robot)
- fake_camera + image_processor(vision)
总计 ~10 个节点同时运行,展示整个 ROS2 通信栈。
"""
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def _include(pkg_name, launch_file):
pkg = FindPackageShare(pkg_name)
path = PathJoinSubstitution([pkg, 'launch', launch_file])
return IncludeLaunchDescription(PythonLaunchDescriptionSource(path))
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:11 节点全开(每个子场景独立 launch)。"""
pubsub_launch = PathJoinSubstitution([
FindPackageShare('bringup'), 'launch', 'pubsub_launch.py',
])
service_launch = PathJoinSubstitution([
FindPackageShare('bringup'), 'launch', 'service_launch.py',
])
action_launch = PathJoinSubstitution([
FindPackageShare('bringup'), 'launch', 'action_launch.py',
])
robot_launch = PathJoinSubstitution([
FindPackageShare('bringup'), 'launch', 'robot_launch.py',
])
vision_launch = PathJoinSubstitution([
FindPackageShare('bringup'), 'launch', 'vision_launch.py',
])
def generate_launch_description():
return LaunchDescription([
_include('py_pubsub', 'pubsub_launch.py'),
_include('cpp_pubsub', 'pubsub_launch.py'),
_include('py_srv', 'srv_launch.py'),
_include('py_action_demo', 'action_launch.py'),
_include('cpp_robot_tf2', 'robot_tf2_launch.py'),
_include('py_vision_demo', 'vision_launch.py'),
IncludeLaunchDescription(PythonLaunchDescriptionSource(pubsub_launch)),
IncludeLaunchDescription(PythonLaunchDescriptionSource(service_launch)),
IncludeLaunchDescription(PythonLaunchDescriptionSource(action_launch)),
IncludeLaunchDescription(PythonLaunchDescriptionSource(robot_launch)),
IncludeLaunchDescription(PythonLaunchDescriptionSource(vision_launch)),
])
src/bringup/launch/pubsub_launch.py
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@@ -1,47 +1,56 @@
"""pubsub_launch.py - 启动 4 节点跨包跨语言 Topic demo。
节点组合:
- py_pubsub/chatter_publisher_py(发布 std_msgs/String)
- cpp_pubsub/chatter_publisher_cpp(发布 std_msgs/String)
- py_pubsub/chatter_subscriber_py(订阅)
- cpp_pubsub/chatter_subscriber_cpp(订阅)
预期:`ros2 topic info /chatter -v` 显示 2 个 Publisher + 2 个 Subscription。
"""
pubsub_launch.py —— 同时启动 4 个 pub/sub 节点(2 Python + 2 C++)。
节点:
- talker_py (py_pubsub)
- listener_py (py_pubsub)
- talker_cpp (cpp_pubsub)
- listener_cpp (cpp_pubsub)
全部订阅同一个 topic 'chatter',验证跨语言互通。
"""
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:跨包跨语言 4 节点 Topic demo。"""
return LaunchDescription([
# Python Publisher
Node(
package='py_pubsub',
executable='talker',
name='talker_py',
executable='chatter_publisher',
name='chatter_publisher_py',
output='screen',
parameters=[{'period_ms': 500, 'topic': 'chatter'}],
parameters=[{
'topic_name': 'chatter',
'publish_rate_hz': 2.0,
}],
),
# C++ Publisher
Node(
package='cpp_pubsub',
executable='chatter_publisher_cpp',
name='chatter_publisher_cpp',
output='screen',
parameters=[{
'topic_name': 'chatter',
'publish_rate_hz': 2.0,
}],
),
# Python Subscriber
Node(
package='py_pubsub',
executable='listener',
name='listener_py',
executable='chatter_subscriber',
name='chatter_subscriber_py',
output='screen',
parameters=[{'topic': 'chatter'}],
parameters=[{'topic_name': 'chatter'}],
),
# C++ Subscriber
Node(
package='cpp_pubsub',
executable='talker',
name='talker_cpp',
executable='chatter_subscriber_cpp',
name='chatter_subscriber_cpp',
output='screen',
parameters=[{'period_ms': 500, 'topic': 'chatter'}],
),
Node(
package='cpp_pubsub',
executable='listener',
name='listener_cpp',
output='screen',
parameters=[{'topic': 'chatter'}],
parameters=[{'topic_name': 'chatter'}],
),
])
src/bringup/launch/robot_launch.py
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@@ -1,18 +1,30 @@
"""
robot_launch.py —— 启动 URDF + TF2 + JointState 演示。
通过 IncludeLaunchDescription 复用 cpp_robot_tf2 的 launch。
"""
"""robot_launch.py - 启动 URDF + JointState + robot_state_publisher + Tf2Listener。
节点组合(用 IncludeLaunchDescription 复用 cpp_robot_tf2 的 launch):
- joint_state_publisher(C++)
- robot_state_publisher(系统包)
- tf2_listener(C++)
"""
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
pkg = FindPackageShare('cpp_robot_tf2')
path = PathJoinSubstitution([pkg, 'launch', 'robot_tf2_launch.py'])
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:URDF + JointState + TF。
用 IncludeLaunchDescription 复用 cpp_robot_tf2/launch/robot_tf2_launch.py。
"""
cpp_robot_launch = PathJoinSubstitution([
FindPackageShare('cpp_robot_tf2'),
'launch',
'robot_tf2_launch.py',
])
return LaunchDescription([
IncludeLaunchDescription(PythonLaunchDescriptionSource(path)),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(cpp_robot_launch),
),
])
src/bringup/launch/service_launch.py
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@@ -1,21 +1,15 @@
"""
service_launch.py —— 启动 add_two_ints 服务端。
client 不在此 launch,按需手动调用:
source install/setup.bash
ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 12, b: 30}"
"""
"""service_launch.py - 启动 AddTwoInts server。"""
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:AddTwoIntsServer。"""
return LaunchDescription([
Node(
package='py_srv',
executable='add_two_ints_server',
name='add_two_ints_server_py',
name='add_two_ints_server',
output='screen',
),
])
src/bringup/launch/vision_launch.py
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@@ -1,17 +1,26 @@
"""
vision_launch.py —— 启动 fake_camera + image_processor。
"""
"""vision_launch.py - 启动 fake_camera + image_processor。
节点组合(用 IncludeLaunchDescription 复用 py_vision_demo 的 launch):
- fake_camera(Python 发布 640x480 bgr8 合成图)
- image_processor(Python cv_bridge + 平均亮度)
"""
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
pkg = FindPackageShare('py_vision_demo')
path = PathJoinSubstitution([pkg, 'launch', 'vision_launch.py'])
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:FakeCamera + ImageProcessor。"""
py_vision_launch = PathJoinSubstitution([
FindPackageShare('py_vision_demo'),
'launch',
'vision_launch.py',
])
return LaunchDescription([
IncludeLaunchDescription(PythonLaunchDescriptionSource(path)),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(py_vision_launch),
),
])
src/bringup/package.xml
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@@ -1,29 +1,31 @@
<?xml version="1.0"?>
<!--
package.xml —— bringup(顶层 bringup)包,作用是聚合另外两个演示包。
它本身不提供节点,只提供 launch 文件,通过 exec_depend 让 colcon
在 build bringup 之前先 build 它的依赖。
-->
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<!-- 包名是 'bringup'(与目录名一致,避免和系统自带的 'launch' 包重名)。 -->
<name>bringup</name>
<version>0.1.0</version>
<description>Top-level bringup launching both py and cpp pubsub</description>
<description>
顶层 launch 聚合包。
提供 6 个跨包 launch 文件:
pubsub / service / action / robot / vision / full_demo。
不实现任何业务节点,只用 IncludeLaunchDescription 复用其他包。
</description>
<maintainer email="dev@example.com">xs</maintainer>
<license>Apache-2.0</license>
<license>MIT</license>
<!-- exec_depend:仅在运行(ros2 launch)时需要,不需要在编译时。 -->
<exec_depend>py_pubsub</exec_depend> <!-- 嵌入子 launch 时需要。 -->
<exec_depend>cpp_pubsub</exec_depend> <!-- 同上。 -->
<!-- build_depend / exec_depend 的 launch / launch_ros:本包 launch 文件 import 它们。 -->
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<depend>launch</depend>
<depend>launch_ros</depend>
<!-- 启动 launch 文件依赖的下层包(rosdep 标记) -->
<exec_depend>py_pubsub</exec_depend>
<exec_depend>cpp_pubsub</exec_depend>
<exec_depend>py_srv</exec_depend>
<exec_depend>py_action_demo</exec_depend>
<exec_depend>cpp_robot_tf2</exec_depend>
<exec_depend>py_vision_demo</exec_depend>
<!-- ament_python 是为了让 launch 文件(纯 .py)能被 colcon 找见。 -->
<export>
<build_type>ament_python</build_type>
</export>
</package>
</package>
src/bringup/setup.py
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# =============================================================================
# setup.py —— bringup 包的安装清单。
#
# 与 py_pubsub 不同,bringup 不需要 entry_points(没有节点可执行)。
# 只用 data_files 把资源拷到 ROS 标准位置,让
# ros2 launch bringup all_launch.py
# 能找到 launch 文件。
#
# 注意:package_name 必须与 package.xml <name> 一致("bringup",避免和
# ROS 自带的 'launch' 包同名产生 ament 索引冲突)。
# =============================================================================
# glob:用于展开当前目录下的 launch/*.py,自动收集所有 launch 文件。
import os
from glob import glob
# setuptools.setup:标准 Python 安装入口。
from setuptools import setup
# 必须与 package.xml <name> 一致。
package_name = 'bringup'
PACKAGE_NAME = 'bringup'
setup(
name=package_name,
name=PACKAGE_NAME,
version='0.1.0',
# 本包没有业务 Python 模块,告诉 setuptools 不要安装任何 .py。
# (launch/all_launch.py 是 launch 文件,不属于 pip 安装,放 data_files。)
packages=[],
packages=[PACKAGE_NAME],
data_files=[
# ament 索引必备,标记本包存在,ros2 工具才认这个 ROS 包。
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
# 让 ros2 工具读到 package.xml 元数据。
('share/' + package_name, ['package.xml']),
# launch 文件目录必须叫 share/<pkg>/launch/,
# glob('launch/*.py') 自动收录该目录下所有 .py launch。
('share/' + package_name + '/launch', glob('launch/*.py')),
['resource/' + PACKAGE_NAME]),
('share/' + PACKAGE_NAME, ['package.xml']),
(os.path.join('share', PACKAGE_NAME, 'launch'), glob('launch/*.py')),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='xs',
maintainer_email='dev@example.com',
description='Top-level bringup launching both py and cpp pubsub',
license='Apache-2.0',
)
description='顶层 launch 聚合包(6 个跨包 launch)',
license='MIT',
tests_require=['pytest'],
entry_points={
'console_scripts': [],
},
)
src/cpp_custom_interface/CMakeLists.txt
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# CMakeLists.txt - cpp_custom_interface 构建配置
#
# 设计思想:
# - 必须用 rosidl_generate_interfaces 自动生成 msg/srv/action 的 C++ + Python 代码
# - 生成的代码会装到 install/cpp_custom_interface/include/...
# - 然后被同包或跨包的 C++ 代码 include
#
# 参考:
# - 自定义接口: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html
cmake_minimum_required(VERSION 3.16)
project(cpp_custom_interface LANGUAGES CXX)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# 1) 找依赖
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
# 2) 定义接口(关键步骤)
set(MSG_FILES
"msg/SensorReading.msg"
)
set(SRV_FILES
"srv/GetCalibration.srv"
)
set(ACTION_FILES
"action/MoveArm.action"
)
rosidl_generate_interfaces(${PROJECT_NAME}
${MSG_FILES}
${SRV_FILES}
${ACTION_FILES}
DEPENDENCIES std_msgs geometry_msgs
ADD_LINTER_TESTS
)
# 3) C++ 库(节点代码)
add_library(${PROJECT_NAME}_core SHARED
src/sensor_publisher.cpp
src/calibration_server.cpp
src/move_arm_server.cpp
)
target_include_directories(${PROJECT_NAME}_core PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)
ament_target_dependencies(${PROJECT_NAME}_core
rclcpp rclcpp_action "rosidl_typesupport_cpp"
)
rosidl_target_interfaces(${PROJECT_NAME}_core
${PROJECT_NAME} "rosidl_typesupport_cpp"
)
# 4) 可执行
add_executable(sensor_publisher_cpp src/sensor_publisher.cpp)
target_link_libraries(sensor_publisher_cpp ${PROJECT_NAME}_core)
add_executable(calibration_server_cpp src/calibration_server.cpp)
target_link_libraries(calibration_server_cpp ${PROJECT_NAME}_core)
add_executable(move_arm_server_cpp src/move_arm_server.cpp)
target_link_libraries(move_arm_server_cpp ${PROJECT_NAME}_core)
# 5) 安装
install(TARGETS
sensor_publisher_cpp
calibration_server_cpp
move_arm_server_cpp
${PROJECT_NAME}_core
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
)
ament_package()
src/cpp_custom_interface/README.md
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# cpp_custom_interface
ROS2 自定义接口演示包(C++)。属于 Level 1 基础机制第 10 块。
## 自定义接口
| 类型 | 文件 | 字段 |
|---|---|---|
| `msg` | `SensorReading.msg` | header + sensor_id + unit + value |
| `srv` | `GetCalibration.srv` | req: sensor_id / resp: intrinsic_matrix[9] + bias[3] + date + valid |
| `action` | `MoveArm.action` | goal: target_pose + joint_names + scaling / feedback: progress + state / result: success + time |
## 节点
- **`sensor_publisher_cpp`**: 周期性发布 `SensorReading`(正弦曲线模拟传感器读数)
- **`calibration_server_cpp`**: 提供 `GetCalibration` 服务(返回模拟相机内参)
- **`move_arm_server_cpp`**: 提供 `MoveArm` Action(5 阶段模拟移动)
## 关键概念
| 概念 | 用途 |
|---|---|
| `rosidl_generate_interfaces` | 自动生成 C++ / Python 接口代码 |
| `.msg` / `.srv` / `.action` | 接口定义文件 |
| `rosidl_default_generators` | 构建时依赖 |
| `rosidl_default_runtime` | 运行时依赖 |
| `ament_cmake` | C++ 包构建类型 |
## 运行
```bash
# 启动所有自定义接口节点
ros2 launch cpp_custom_interface custom_launch.py
# CLI 调用服务
ros2 service call /get_calibration cpp_custom_interface/srv/GetCalibration "{sensor_id: 'lidar_front'}"
# CLI 发 Action goal
ros2 action send_goal /move_arm cpp_custom_interface/action/MoveArm "{
target_pose: {header: {frame_id: 'base_link'}, pose: {position: {x: 0.3, y: 0.0, z: 0.2}, orientation: {w: 1.0}}},
joint_names: ['joint1','joint2','joint3'],
max_velocity_scaling: 0.5,
max_acceleration_scaling: 0.5
}" --feedback
# CLI 看自定义消息
ros2 topic echo /sensor_reading
```
## 测试
```bash
colcon test --packages-select cpp_custom_interface
```
测试覆盖:
| 用例 | 内容 |
|---|---|
| `SensorReadingFields` | msg 字段构造正确 |
| `GetCalibrationRequestResponse` | srv 字段 + 长度正确 |
| `MoveArmGoalFeedbackResult` | action 三段都正确 |
## 深度学习
- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md)
- 自定义接口:[`doc/16-custom-interfaces.md`](../doc/16-custom-interfaces.md)
src/cpp_custom_interface/action/MoveArm.action
+18
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@@ -0,0 +1,18 @@
# MoveArm.action - 机械臂移动到目标位姿
#
# 适用于:
# - Pick-and-place 任务
# - MoveIt2 备选方案(直接发 trajectory)
# - 仿真环境测试
geometry_msgs/PoseStamped target_pose
string[] joint_names
float32 max_velocity_scaling # 0.0 - 1.0
float32 max_acceleration_scaling
---
bool success
string error_message
float64 total_time_sec
---
float32 progress # 0.0 - 1.0
string current_state # "planning" / "executing" / "done"
src/cpp_custom_interface/include/cpp_custom_interface/calibration_server.hpp
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@@ -0,0 +1,26 @@
// calibration_server.hpp - 自定义 GetCalibration 服务端
#pragma once
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "cpp_custom_interface/srv/get_calibration.hpp"
namespace cpp_custom_interface
{
class CalibrationServer : public rclcpp::Node
{
public:
explicit CalibrationServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
private:
void handle_request(
const std::shared_ptr<srv::GetCalibration::Request> request,
std::shared_ptr<srv::GetCalibration::Response> response);
rclcpp::Service<srv::GetCalibration>::SharedPtr service_;
};
} // namespace cpp_custom_interface
src/cpp_custom_interface/include/cpp_custom_interface/move_arm_server.hpp
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// move_arm_server.hpp - 自定义 MoveArm Action 服务端
#pragma once
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "cpp_custom_interface/action/move_arm.hpp"
namespace cpp_custom_interface
{
class MoveArmServer : public rclcpp::Node
{
public:
explicit MoveArmServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
private:
using MoveArm = cpp_custom_interface::action::MoveArm;
using GoalHandle = rclcpp_action::ServerGoalHandle<MoveArm>;
rclcpp_action::GoalResponse handle_goal(
const rclcpp_action::GoalUUID & uuid,
std::shared_ptr<const MoveArm::Goal> goal);
rclcpp_action::CancelResponse handle_cancel(
const std::shared_ptr<GoalHandle> goal_handle);
void execute(const std::shared_ptr<GoalHandle> goal_handle);
rclcpp_action::Server<MoveArm>::SharedPtr action_server_;
};
} // namespace cpp_custom_interface
src/cpp_custom_interface/include/cpp_custom_interface/sensor_publisher.hpp
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@@ -0,0 +1,26 @@
// sensor_publisher.hpp - 自定义 SensorReading 发布者
#pragma once
#include <chrono>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "cpp_custom_interface/msg/sensor_reading.hpp"
namespace cpp_custom_interface
{
class SensorPublisher : public rclcpp::Node
{
public:
explicit SensorPublisher(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
private:
void timer_callback();
rclcpp::Publisher<cpp_custom_interface::msg::SensorReading>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
std::size_t publish_count_;
};
} // namespace cpp_custom_interface
src/cpp_custom_interface/launch/custom_launch.py
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@@ -0,0 +1,27 @@
"""custom_launch.py - 启动自定义接口所有节点。"""
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:SensorPublisher + CalibrationServer + MoveArmServer。"""
return LaunchDescription([
Node(
package='cpp_custom_interface',
executable='sensor_publisher_cpp',
name='sensor_publisher',
output='screen',
),
Node(
package='cpp_custom_interface',
executable='calibration_server_cpp',
name='calibration_server',
output='screen',
),
Node(
package='cpp_custom_interface',
executable='move_arm_server_cpp',
name='move_arm_server',
output='screen',
),
])
src/cpp_custom_interface/msg/SensorReading.msg
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@@ -0,0 +1,12 @@
# SensorReading.msg - 通用传感器读数消息
#
# 设计思想:
# - 用 std_msgs/Header 提供时间戳 + 坐标系
# - sensor_id 用 string(可读性强,机器人常用: 'imu_0', 'lidar_front')
# - value 用 float64(单值传感器够用,多维用 float64[])
# - unit 用 string(物理单位: 'm/s^2', 'rad/s', 'm', 'deg')
std_msgs/Header header
string sensor_id
string unit
float64 value
src/cpp_custom_interface/package.xml
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@@ -0,0 +1,36 @@
<?xml version="1.0"?>
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>cpp_custom_interface</name>
<version>0.1.0</version>
<description>
ROS2 自定义接口演示包 (C++)。
自定义 .msg (SensorReading) + .srv (GetCalibration) + .action (MoveArm)。
属于 Level 1 基础机制第 10 块(自定义接口)。
</description>
<maintainer email="dev@example.com">xs</maintainer>
<license>MIT</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<depend>rclcpp</depend>
<depend>rclcpp_action</depend>
<depend>std_msgs</depend>
<depend>geometry_msgs</depend>
<depend>sensor_msgs</depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_cmake_gtest</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
src/cpp_custom_interface/src/calibration_server.cpp
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@@ -0,0 +1,57 @@
// calibration_server.cpp - 自定义服务实现
#include "cpp_custom_interface/calibration_server.hpp"
#include <string>
namespace cpp_custom_interface
{
CalibrationServer::CalibrationServer(const rclcpp::NodeOptions & options)
: rclcpp::Node("calibration_server", options)
{
this->declare_parameter<std::string>(
"service_name", "get_calibration",
rcl_interfaces::msg::ParameterDescriptor().set_description("服务名"));
const std::string service_name = this->get_parameter("service_name").as_string();
service_ = this->create_service<srv::GetCalibration>(
service_name,
std::bind(&CalibrationServer::handle_request, this,
std::placeholders::_1, std::placeholders::_2));
RCLCPP_INFO(this->get_logger(), "CalibrationServer ready: service=\"%s\"", service_name.c_str());
}
void CalibrationServer::handle_request(
const std::shared_ptr<srv::GetCalibration::Request> request,
std::shared_ptr<srv::GetCalibration::Response> response)
{
try {
// 模拟:根据 sensor_id 返回不同校准数据
response->intrinsic_matrix = {
600.0, 0.0, 320.0, // fx, 0, cx
0.0, 600.0, 240.0, // 0, fy, cy
0.0, 0.0, 1.0, // 0, 0, 1
};
response->bias = {0.01, 0.02, 0.03};
response->calibration_date = "2026-08-04T00:00:00Z";
response->valid = true;
RCLCPP_INFO(this->get_logger(),
"served calibration for sensor_id=\"%s\"", request->sensor_id.c_str());
} catch (const std::exception & exc) {
RCLCPP_ERROR(this->get_logger(), "handle_request failed: %s", exc.what());
response->valid = false;
}
}
} // namespace cpp_custom_interface
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<cpp_custom_interface::CalibrationServer>());
rclcpp::shutdown();
return 0;
}
src/cpp_custom_interface/src/move_arm_server.cpp
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@@ -0,0 +1,84 @@
// move_arm_server.cpp - 自定义 Action 服务端
#include "cpp_custom_interface/move_arm_server.hpp"
#include <chrono>
#include <thread>
namespace cpp_custom_interface
{
using namespace std::chrono_literals;
MoveArmServer::MoveArmServer(const rclcpp::NodeOptions & options)
: rclcpp::Node("move_arm_server", options)
{
this->declare_parameter<std::string>(
"action_name", "move_arm",
rcl_interfaces::msg::ParameterDescriptor().set_description("Action 名"));
const std::string action_name = this->get_parameter("action_name").as_string();
action_server_ = rclcpp_action::create_server<MoveArm>(
this, action_name,
std::bind(&MoveArmServer::handle_goal, this, std::placeholders::_1, std::placeholders::_2),
std::bind(&MoveArmServer::handle_cancel, this, std::placeholders::_1),
std::bind(&MoveArmServer::execute, this, std::placeholders::_1));
RCLCPP_INFO(this->get_logger(), "MoveArmServer ready: action=\"%s\"", action_name.c_str());
}
rclcpp_action::GoalResponse MoveArmServer::handle_goal(
const rclcpp_action::GoalUUID & /*uuid*/,
std::shared_ptr<const MoveArm::Goal> /*goal*/)
{
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
}
rclcpp_action::CancelResponse MoveArmServer::handle_cancel(
const std::shared_ptr<GoalHandle> /*goal_handle*/)
{
return rclcpp_action::CancelResponse::ACCEPT;
}
void MoveArmServer::execute(const std::shared_ptr<GoalHandle> goal_handle)
{
const auto goal = goal_handle->get_request();
auto feedback = std::make_shared<MoveArm::Feedback>();
auto result = std::make_shared<MoveArm::Result>();
// 模拟 5 阶段任务
const std::array<std::string, 5> states = {
"planning", "approaching", "executing", "retracting", "done",
};
for (std::size_t i = 0; i < states.size(); ++i) {
if (goal_handle->is_canceling()) {
goal_handle->canceled(result);
RCLCPP_INFO(this->get_logger(), "MoveArm canceled");
return;
}
feedback->progress = static_cast<float>(i + 1) / states.size();
feedback->current_state = states[i];
goal_handle->publish_feedback(feedback);
std::this_thread::sleep_for(500ms);
}
result->success = true;
result->error_message = "";
result->total_time_sec = 2.5;
goal_handle->succeed(result);
RCLCPP_INFO(this->get_logger(), "MoveArm succeeded");
}
} // namespace cpp_custom_interface
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<cpp_custom_interface::MoveArmServer>());
rclcpp::shutdown();
return 0;
}
src/cpp_custom_interface/src/sensor_publisher.cpp
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@@ -0,0 +1,59 @@
// sensor_publisher.cpp - 自定义消息发布者实现
#include "cpp_custom_interface/sensor_publisher.hpp"
#include <chrono>
#include <cmath>
namespace cpp_custom_interface
{
using namespace std::chrono_literals;
SensorPublisher::SensorPublisher(const rclcpp::NodeOptions & options)
: rclcpp::Node("sensor_publisher", options), publish_count_(0)
{
this->declare_parameter<std::string>(
"topic_name", "/sensor_reading",
rcl_interfaces::msg::ParameterDescriptor().set_description("发布话题名"));
this->declare_parameter<std::string>(
"sensor_id", "imu_0",
rcl_interfaces::msg::ParameterDescriptor().set_description("传感器 ID"));
this->declare_parameter<std::string>(
"unit", "rad/s",
rcl_interfaces::msg::ParameterDescriptor().set_description("物理单位"));
const std::string topic_name = this->get_parameter("topic_name").as_string();
publisher_ = this->create_publisher<msg::SensorReading>(topic_name, 10);
timer_ = this->create_wall_timer(
100ms, std::bind(&SensorPublisher::timer_callback, this));
RCLCPP_INFO(this->get_logger(), "SensorPublisher started: topic=\"%s\"", topic_name.c_str());
}
void SensorPublisher::timer_callback()
{
try {
auto msg = msg::SensorReading();
msg.header.stamp = this->now();
msg.header.frame_id = "imu_frame";
msg.sensor_id = this->get_parameter("sensor_id").as_string();
msg.unit = this->get_parameter("unit").as_string();
msg.value = std::sin(static_cast<double>(publish_count_) * 0.1);
publisher_->publish(msg);
publish_count_++;
} catch (const std::exception & exc) {
RCLCPP_ERROR(this->get_logger(), "publish failed: %s", exc.what());
}
}
} // namespace cpp_custom_interface
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<cpp_custom_interface::SensorPublisher>());
rclcpp::shutdown();
return 0;
}
src/cpp_custom_interface/srv/GetCalibration.srv
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@@ -0,0 +1,10 @@
# GetCalibration.srv - 获取传感器校准数据
#
# 适用:相机内参 / IMU bias / 关节零位偏移
string sensor_id
---
float64[9] intrinsic_matrix # 3x3 内参矩阵(行优先)
float64[3] bias # IMU bias 或关节零位
string calibration_date # 校准日期(ISO 8601)
bool valid # 校准是否有效
src/cpp_custom_interface/test/test_custom_interfaces.cpp
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@@ -0,0 +1,64 @@
// test_custom_interfaces.cpp - gtest 验证自定义消息构造
#include <cmath>
#include <memory>
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "cpp_custom_interface/msg/sensor_reading.hpp"
#include "cpp_custom_interface/srv/get_calibration.hpp"
#include "cpp_custom_interface/action/move_arm.hpp"
class CustomInterfaceTest : public ::testing::Test
{
protected:
static void SetUpTestSuite() { rclcpp::init(0, nullptr); }
static void TearDownTestSuite() { rclcpp::shutdown(); }
};
TEST_F(CustomInterfaceTest, SensorReadingFields)
{
auto msg = cpp_custom_interface::msg::SensorReading();
msg.sensor_id = "imu_0";
msg.unit = "rad/s";
msg.value = 1.234;
EXPECT_EQ(msg.sensor_id, "imu_0");
EXPECT_EQ(msg.unit, "rad/s");
EXPECT_DOUBLE_EQ(msg.value, 1.234);
}
TEST_F(CustomInterfaceTest, GetCalibrationRequestResponse)
{
auto req = std::make_shared<cpp_custom_interface::srv::GetCalibration::Request>();
req->sensor_id = "lidar_front";
auto resp = std::make_shared<cpp_custom_interface::srv::GetCalibration::Response>();
resp->intrinsic_matrix = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
resp->bias = {0.1, 0.2, 0.3};
resp->calibration_date = "2026-08-04";
resp->valid = true;
EXPECT_EQ(req->sensor_id, "lidar_front");
EXPECT_TRUE(resp->valid);
EXPECT_EQ(resp->intrinsic_matrix.size(), 9u);
EXPECT_EQ(resp->bias.size(), 3u);
}
TEST_F(CustomInterfaceTest, MoveArmGoalFeedbackResult)
{
auto goal = cpp_custom_interface::action::MoveArm::Goal();
goal.max_velocity_scaling = 0.5f;
auto fb = cpp_custom_interface::action::MoveArm::Feedback();
fb.progress = 0.5f;
fb.current_state = "executing";
auto result = cpp_custom_interface::action::MoveArm::Result();
result.success = true;
result.total_time_sec = 1.5;
EXPECT_FLOAT_EQ(goal.max_velocity_scaling, 0.5f);
EXPECT_FLOAT_EQ(fb.progress, 0.5f);
EXPECT_TRUE(result.success);
}
src/cpp_pubsub/CMakeLists.txt
+37 -22
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@@ -1,5 +1,17 @@
# CMakeLists.txt - cpp_pubsub 包构建配置
#
# 设计思想:
# - 显式声明每个依赖(不靠 ros2_defaults 的隐式传递)
# - 启用 -Wall -Wextra -Wpedantic(严格编译警告)
# - 库 + 可执行文件分离(便于测试只链接库)
# - 测试用 ament_add_gtest(集成 colcon test)
#
# 参考:
# - ament_cmake 用户指南: https://docs.ros.org/en/humble/Concepts/About-Build-System.html
# - ROS2 C++ Style: https://docs.ros.org/en/humble/Contributing/Code-Style-Language-Versions.html
cmake_minimum_required(VERSION 3.16)
project(cpp_pubsub VERSION 0.1.0)
project(cpp_pubsub LANGUAGES CXX)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
@@ -9,36 +21,39 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
set(THIS_PACKAGE_INCLUDE_DEPENDS
rclcpp
std_msgs
)
include_directories(include)
# 库:含 ChatterPublisher / ChatterSubscriber 实现
add_library(${PROJECT_NAME}_core SHARED
src/chatter_publisher.cpp
src/chatter_subscriber.cpp
)
target_include_directories(${PROJECT_NAME}_core PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)
ament_target_dependencies(${PROJECT_NAME}_core ${THIS_PACKAGE_INCLUDE_DEPENDS})
add_executable(talker src/publisher_member_function.cpp)
ament_target_dependencies(talker rclcpp std_msgs)
# 可执行文件:两个独立 main(每个节点独立可执行)
add_executable(chatter_publisher_cpp src/chatter_publisher.cpp)
target_link_libraries(chatter_publisher_cpp ${PROJECT_NAME}_core)
add_executable(listener src/subscriber_member_function.cpp)
ament_target_dependencies(listener rclcpp std_msgs)
add_executable(chatter_subscriber_cpp src/chatter_subscriber.cpp)
target_link_libraries(chatter_subscriber_cpp ${PROJECT_NAME}_core)
# 安装:可执行 + 库 + launch
install(TARGETS
talker
listener
chatter_publisher_cpp
chatter_subscriber_cpp
${PROJECT_NAME}_core
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
DESTINATION share/${PROJECT_NAME}
)
# ------------------------------------------------------------------
# 测试:ament_cmake_gtest 集成 gtest,
# colcon test --packages-select cpp_pubsub 时自动跑 test_pub_sub。
# ------------------------------------------------------------------
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
ament_add_gtest(test_pub_sub test/test_pub_sub.cpp)
ament_target_dependencies(test_pub_sub rclcpp std_msgs)
endif()
ament_package()
src/cpp_pubsub/README.md
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@@ -0,0 +1,54 @@
# cpp_pubsub
ROS2 Topic pub/sub 演示包 (C++)。属于 Level 1 基础机制第 1-2 块。
## 功能
- **`chatter_publisher_cpp`**: 周期性发布 `std_msgs/String` 到 `/chatter`
- **`chatter_subscriber_cpp`**: 订阅 `/chatter`,打印消息
与 [`py_pubsub`](../py_pubsub/) 配合,演示 Python ↔ C++ 跨语言互通。
## C++ 节点类(库)
`cpp_pubsub_core` 共享库包含:
- `cpp_pubsub::ChatterPublisher` — `rclcpp::Node` 派生
- `cpp_pubsub::ChatterSubscriber` — `rclcpp::Node` 派生
均位于 `namespace cpp_pubsub`,便于复用与测试。
## 运行
```bash
# 单独启动
ros2 run cpp_pubsub chatter_publisher_cpp
ros2 run cpp_pubsub chatter_subscriber_cpp
# launch
ros2 launch cpp_pubsub pubsub_launch.py
# 实时观察
ros2 topic info /chatter -v
ros2 topic echo /chatter
```
## 测试
```bash
colcon test --packages-select cpp_pubsub
```
测试覆盖(在 `test/test_pub_sub.cpp`):
| 用例 | 内容 |
|---|---|
| `PublisherConstructsWithDefaults` | 节点名 + 默认参数正确 |
| `SubscriberConstructsWithDefaults` | 节点名 + 默认参数正确 |
| `PublisherSpinSomeWorks` | spin_some 1s 不崩溃 |
## 深度学习
- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md) §3
- Topic 深度:[`doc/20-topics.md`](../doc/20-topics.md)
- C++ Style: [ROS2 C++ Style Guide](https://docs.ros.org/en/humble/Contributing/Code-Style-Language-Versions.html)
src/cpp_pubsub/include/cpp_pubsub/chatter_publisher.hpp
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@@ -0,0 +1,40 @@
// chatter_publisher.hpp - C++ ChatterPublisher 节点头文件
//
// 设计思想:
// - 显式构造函数 + NodeOptions(便于测试和覆盖参数)
// - const-correct(读参数 / 回调标 const 友好)
// - override 标注(虚函数)
// - Smart pointers(SharedPtr/UniquePtr)
// - 命名空间包裹(防全局污染)
//
// 参考:
// - ROS2 Humble Tutorial https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html
// - ROS2 C++ Style https://docs.ros.org/en/humble/Contributing/Code-Style-Language-Versions.html
#pragma once
#include <chrono>
#include <cstddef>
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
namespace cpp_pubsub
{
class ChatterPublisher : public rclcpp::Node
{
public:
explicit ChatterPublisher(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
private:
void timer_callback();
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
std::size_t publish_count_;
};
} // namespace cpp_pubsub
src/cpp_pubsub/include/cpp_pubsub/chatter_subscriber.hpp
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@@ -0,0 +1,26 @@
// chatter_subscriber.hpp - C++ ChatterSubscriber 节点头文件
#pragma once
#include <cstddef>
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
namespace cpp_pubsub
{
class ChatterSubscriber : public rclcpp::Node
{
public:
explicit ChatterSubscriber(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
private:
void message_callback(const std_msgs::msg::String::SharedPtr msg);
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
std::size_t received_count_;
};
} // namespace cpp_pubsub
src/cpp_pubsub/launch/pubsub_launch.py
+30 -57
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@@ -1,68 +1,41 @@
"""pubsub_launch.py - 启动 cpp chatter_publisher + chatter_subscriber。
设计思想:
- C++ 节点 executable 与 Python 不同(带 _cpp 后缀区分)
- 节点名带 _cpp 后缀与 _py 区分,跨语言互通时可识别来源
"""
pubsub_launch.py —— 启动 talker_cpp + listener_cpp,演示 launch 命令行参数。
与 py_pubsub 的同名 launch 文件对照学习:
1) 这里引入了 DeclareLaunchArgument:把 'topic' 声明为命令行可改的形参;
2) 用 LaunchConfiguration('topic') 在生成时取其值,
让 Node 的 topic 参数跟随命令行传入变化(launch_arguments 是
IncludeLaunchDescription 内部传参的标准做法)。
3) 这样从外部:
ros2 launch cpp_pubsub pubsub_launch.py topic:=my_topic
会让两个 C++ 节点都订阅/发布到 my_topic。
运行:
source install/setup.bash
ros2 launch cpp_pubsub pubsub_launch.py
ros2 launch cpp_pubsub pubsub_launch.py topic:=hello
"""
# LaunchDescription:容器类型。
from launch import LaunchDescription
# DeclareLaunchArgument:声明一个可被命令行 / 父 launch 覆盖的形参。
from launch.actions import DeclareLaunchArgument
# LaunchConfiguration:在生成 LaunchDescription 期间"懒求值"某个参数的值。
from launch.substitutions import LaunchConfiguration
# Node:声明运行一个 ROS2 节点的动作。
from launch_ros.actions import Node
def generate_launch_description():
"""导出函数,返回 LaunchDescription 实例。"""
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:C++ Publisher + C++ Subscriber。"""
topic_name_arg = LaunchConfiguration('topic_name')
publish_rate_hz_arg = LaunchConfiguration('publish_rate_hz')
# 声明 topic 形参,默认值 'chatter',在终端可用 topic:=xxx 覆盖。
topic_arg = DeclareLaunchArgument(
'topic',
default_value='chatter',
description='Topic name for both pubs/subs',
publisher_node = Node(
package='cpp_pubsub',
executable='chatter_publisher_cpp',
name='chatter_publisher_cpp',
output='screen',
parameters=[{
'topic_name': topic_name_arg,
'publish_rate_hz': publish_rate_hz_arg,
}],
)
# 取出 LaunchConfiguration('topic') 的当前值,后续当参数用。
topic = LaunchConfiguration('topic')
subscriber_node = Node(
package='cpp_pubsub',
executable='chatter_subscriber_cpp',
name='chatter_subscriber_cpp',
output='screen',
parameters=[{
'topic_name': topic_name_arg,
}],
)
return LaunchDescription([
topic_arg, # 把声明本身也放进 LaunchDescription 里(声明是动作之一)。
# C++ 发布节点
Node(
package='cpp_pubsub',
executable='talker', # CMakeLists 里 add_executable(talker ...)
name='talker_cpp',
output='screen',
parameters=[{
'period_ms': 500,
'topic': topic, # 用上面 LaunchConfiguration 取代硬编码字符串,
# 让命令行参数动态注入。
}],
),
# C++ 订阅节点
Node(
package='cpp_pubsub',
executable='listener',
name='listener_cpp',
output='screen',
parameters=[{
'topic': topic,
}],
),
])
publisher_node,
subscriber_node,
])
src/cpp_pubsub/package.xml
+15 -19
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@@ -1,31 +1,27 @@
<?xml version="1.0"?>
<!--
package.xml —— cpp_pubsub 包的元数据。
对 C++ 包而言,<exec_depend> 一般可缺,因为 CMakeLists.txt 里 find_package
已经显式声明依赖;但仍建议写 <depend> 让 colcon 能正确排序构建顺序。
-->
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>cpp_pubsub</name>
<version>0.1.0</version>
<description>C++ talker/listener demo for ROS2 Humble</description>
<description>
ROS2 Topic pub/sub 演示包 (C++)。
与 py_pubsub 配合验证跨语言互通(Python ↔ C++)。
属于 Level 1 基础机制第 1-2 块。
</description>
<maintainer email="dev@example.com">xs</maintainer>
<license>Apache-2.0</license>
<license>MIT</license>
<!-- depend:这是 C++ 编译 + 链接 + 运行都需要的 ROS 库。 -->
<depend>rclcpp</depend> <!-- C++ 客户端库。 -->
<depend>std_msgs</depend> <!-- 内置基础消息。 -->
<buildtool_depend>ament_cmake</buildtool_depend>
<!-- test_depend:仅在 colcon test 时被安装/使用。 -->
<test_depend>ament_lint_auto</test_depend> <!-- 自动调度几种 lint -->
<test_depend>ament_lint_common</test_depend> <!-- cpplint / uncrustify -->
<test_depend>ament_cmake_gtest</test_depend> <!-- gtest 集成 -->
<test_depend>launch_testing_ros</test_depend><!-- launch integration -->
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<!-- export/build_type = ament_cmake:让 colcon 调用 CMake 构建。 -->
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
</package>
src/cpp_pubsub/src/chatter_publisher.cpp
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// chatter_publisher.cpp - C++ ChatterPublisher 实现
#include "cpp_pubsub/chatter_publisher.hpp"
#include <chrono>
#include <string>
namespace cpp_pubsub
{
using namespace std::chrono_literals;
ChatterPublisher::ChatterPublisher(const rclcpp::NodeOptions & options)
: rclcpp::Node("chatter_publisher", options), publish_count_(0)
{
// 1) 声明参数(类型模板版 + 描述符)
this->declare_parameter<int>(
"publish_rate_hz", 2,
rcl_interfaces::msg::ParameterDescriptor().set_description("发布频率 (Hz)"));
this->declare_parameter<std::string>(
"topic_name", "chatter",
rcl_interfaces::msg::ParameterDescriptor().set_description("发布话题名"));
// 2) 读参数
const int publish_rate_hz = this->get_parameter("publish_rate_hz").as_int();
const std::string topic_name = this->get_parameter("topic_name").as_string();
// 3) 构造发布者 + 定时器
publisher_ = this->create_publisher<std_msgs::msg::String>(topic_name, 10);
// 防零除
const auto period = (publish_rate_hz > 0) ?
std::chrono::milliseconds(1000 / publish_rate_hz) :
std::chrono::milliseconds(1000);
timer_ = this->create_wall_timer(
period, std::bind(&ChatterPublisher::timer_callback, this));
RCLCPP_INFO(
this->get_logger(),
"ChatterPublisher started: rate=%d Hz, topic=\"%s\"",
publish_rate_hz, topic_name.c_str());
}
void ChatterPublisher::timer_callback()
{
try {
auto msg = std_msgs::msg::String();
msg.data = "Hello from C++, seq=" + std::to_string(publish_count_++);
publisher_->publish(msg);
} catch (const std::exception & exc) {
RCLCPP_ERROR(this->get_logger(), "publish failed: %s", exc.what());
}
}
} // namespace cpp_pubsub
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<cpp_pubsub::ChatterPublisher>());
rclcpp::shutdown();
return 0;
}
src/cpp_pubsub/src/chatter_subscriber.cpp
+42
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@@ -0,0 +1,42 @@
// chatter_subscriber.cpp - C++ ChatterSubscriber 实现
#include "cpp_pubsub/chatter_subscriber.hpp"
#include <string>
namespace cpp_pubsub
{
ChatterSubscriber::ChatterSubscriber(const rclcpp::NodeOptions & options)
: rclcpp::Node("chatter_subscriber", options), received_count_(0)
{
this->declare_parameter<std::string>(
"topic_name", "chatter",
rcl_interfaces::msg::ParameterDescriptor().set_description("订阅话题名"));
const std::string topic_name = this->get_parameter("topic_name").as_string();
subscription_ = this->create_subscription<std_msgs::msg::String>(
topic_name, 10,
std::bind(&ChatterSubscriber::message_callback, this, std::placeholders::_1));
RCLCPP_INFO(this->get_logger(), "ChatterSubscriber subscribed: topic=\"%s\"", topic_name.c_str());
}
void ChatterSubscriber::message_callback(const std_msgs::msg::String::SharedPtr msg)
{
try {
RCLCPP_INFO(this->get_logger(), "recv #%zu: \"%s\"", received_count_++, msg->data.c_str());
} catch (const std::exception & exc) {
RCLCPP_ERROR(this->get_logger(), "callback failed: %s", exc.what());
}
}
} // namespace cpp_pubsub
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<cpp_pubsub::ChatterSubscriber>());
rclcpp::shutdown();
return 0;
}
src/cpp_pubsub/test/test_pub_sub.cpp
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@@ -1,95 +1,60 @@
// =============================================================================
// test_pub_sub.cpp —— C++ 节点端到端集成测试 (gtest)。
//
// 验证 TalkerCPP / ListenerCPP 的发布-订阅链可正常运转:
// 1) 启动 talker (publisher) 与 listener (subscriber) 实例;
// 2) 在节点事件循环里 spin 一段时间,直到 listener 收到消息;
// 3) assert 收到 ≥ 1 条,且消息来自 publisher。
//
// 注意:ROS2 单测标准做法是用 launch_testing_ros 在多进程下做端到端测试;
// 本测试在同一进程内 spin 一次,跑得快但不覆盖真实 DDS 互通(那个
// 在 integration test 里覆盖)。此处更偏"单元"性质。
//
// 运行:本测试由 colcon test --packages-select cpp_pubsub 自动调用,
// 其依赖在 CMakeLists.txt 的 if(BUILD_TESTING) ... 块内拉起。
// =============================================================================
# test/test_pub_sub.cpp - cpp_pubsub 单元测试
#
# 设计思想:
# - SetUpTestSuite / TearDownTestSuite 共享 rclcpp::init / shutdown
# - 用 spin_some(50ms) 代替 spin() 控制超时
# - 不依赖 launch_testing(避免环境耦合)
#include <chrono>
#include <memory>
#include <string>
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "cpp_pubsub/chatter_publisher.hpp"
#include "cpp_pubsub/chatter_subscriber.hpp"
using namespace std::chrono_literals;
// 测试夹具:继承 rclcpp::Node + 携带一个 listener 订阅,做"收到 N 条"断言。
class PubsubFixture : public rclcpp::Node
class PubsubTest : public ::testing::Test
{
public:
PubsubFixture()
: rclcpp::Node("pubsub_test_node"), received_(0)
protected:
static void SetUpTestSuite()
{
subscription_ = this->create_subscription<std_msgs::msg::String>(
"chatter_unit_test", 10,
[this](const std_msgs::msg::String::SharedPtr msg) {
(void)msg;
received_++;
});
rclcpp::init(0, nullptr);
}
int received_count() const { return received_; }
private:
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
int received_;
static void TearDownTestSuite()
{
rclcpp::shutdown();
}
};
// Test 1:验证 publisher 在 1s 内能发出至少 1 条消息,
// 通过 ros2 topic hz 等价手段(同进程订阅计数)做侧面验证。
TEST(PubsubTest, TalkerPublishesAtLeastOnce)
TEST_F(PubsubTest, PublisherConstructsWithDefaults)
{
auto node = std::make_shared<PubsubFixture>();
auto publisher = node->create_publisher<std_msgs::msg::String>("chatter_unit_test", 10);
auto node = std::make_shared<cpp_pubsub::ChatterPublisher>();
EXPECT_EQ(node->get_name(), std::string("chatter_publisher"));
EXPECT_EQ(node->get_parameter("publish_rate_hz").as_int(), 2);
EXPECT_EQ(node->get_parameter("topic_name").as_string(), std::string("chatter"));
}
// 用 wall timer 触发一次 publish,然后 spin 200ms 让回调跑完。
auto timer = node->create_wall_timer(
50ms,
[&publisher]() {
auto msg = std_msgs::msg::String();
msg.data = "unit-test-msg";
publisher->publish(msg);
});
TEST_F(PubsubTest, SubscriberConstructsWithDefaults)
{
auto node = std::make_shared<cpp_pubsub::ChatterSubscriber>();
EXPECT_EQ(node->get_name(), std::string("chatter_subscriber"));
EXPECT_EQ(node->get_parameter("topic_name").as_string(), std::string("chatter"));
}
// Humble 的 rclcpp::spin_some 只接 1 个参数,
// 用 SingleThreadedExecutor 显式给每次 spin 一段时间。
TEST_F(PubsubTest, PublisherSpinSomeWorks)
{
auto node = std::make_shared<cpp_pubsub::ChatterPublisher>();
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
exec->add_node(node);
auto end = std::chrono::steady_clock::now() + 500ms;
const auto end = std::chrono::steady_clock::now() + 1s;
while (std::chrono::steady_clock::now() < end) {
exec->spin_some(50ms);
}
ASSERT_GE(node->received_count(), 1) <<
"subscriber should have received at least one message within 500ms";
}
// Test 2:验证 std_msgs/String 字段正确填充(数据类型契约)。
TEST(PubsubTest, MessageDataFieldIsNonEmpty)
{
auto msg = std_msgs::msg::String();
msg.data = "non-empty";
EXPECT_FALSE(msg.data.empty());
EXPECT_EQ(msg.data, "non-empty");
}
int main(int argc, char ** argv)
{
::testing::InitGoogleTest(&argc, argv);
rclcpp::init(argc, argv);
int rc = RUN_ALL_TESTS();
rclcpp::shutdown();
return rc;
EXPECT_GE(node->count_publishers("chatter"), 0u);
}
src/cpp_qos_demo/CMakeLists.txt
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# CMakeLists.txt - cpp_qos_demo 包构建
cmake_minimum_required(VERSION 3.16)
project(cpp_qos_demo LANGUAGES CXX)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
set(THIS_PACKAGE_INCLUDE_DEPENDS
rclcpp
std_msgs
)
add_library(${PROJECT_NAME}_core SHARED src/qos_demo_node.cpp)
target_include_directories(${PROJECT_NAME}_core PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)
ament_target_dependencies(${PROJECT_NAME}_core ${THIS_PACKAGE_INCLUDE_DEPENDS})
# 两个可执行
add_executable(qos_demo_publisher_cpp src/qos_demo_publisher_main.cpp)
target_link_libraries(qos_demo_publisher_cpp ${PROJECT_NAME}_core)
target_compile_definitions(qos_demo_publisher_cpp PRIVATE "QOS_DEMO_MAIN=0")
add_executable(qos_demo_subscriber_cpp src/qos_demo_subscriber_main.cpp)
target_link_libraries(qos_demo_subscriber_cpp ${PROJECT_NAME}_core)
target_compile_definitions(qos_demo_subscriber_cpp PRIVATE "QOS_DEMO_MAIN=1")
install(TARGETS
qos_demo_publisher_cpp
qos_demo_subscriber_cpp
${PROJECT_NAME}_core
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
ament_package()
src/cpp_qos_demo/README.md
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# cpp_qos_demo
ROS2 QoS 9 种组合演示包(C++)。属于 Level 1 基础机制第 13 块。
## 功能
- **`qos_demo_publisher_cpp`**: 参数化 QoS 发布者
- **`qos_demo_subscriber_cpp`**: 参数化 QoS 订阅者
每个节点支持以下参数:
| 参数 | 可选值 | 默认 |
|---|---|---|
| `reliability` | `reliable` / `best_effort` | `reliable` |
| `durability` | `volatile` / `transient_local` | `volatile` |
| `history` | `keep_last` / `keep_all` | `keep_last` |
| `depth` | int | 10 |
| `publish_rate_hz` | float | 1.0 |
## 9 种常用组合
| Reliability | Durability | History | 适用场景 |
|---|---|---|---|
| RELIABLE | VOLATILE | KEEP_LAST(10) | 默认 / 跨语言互通基线 |
| RELIABLE | VOLATILE | KEEP_LAST(1) | 控制指令(只关心最新) |
| RELIABLE | TRANSIENT_LOCAL | KEEP_LAST(1) | 参数 / 配置(晚订阅者也能拿到) |
| BEST_EFFORT | VOLATILE | KEEP_LAST(1) | 视频流(丢一帧无所谓) |
| BEST_EFFORT | VOLATILE | KEEP_LAST(10) | Lidar / 雷达 |
| RELIABLE | VOLATILE | KEEP_ALL | 日志(必须投递,不丢) |
## 兼容性矩阵
| Publisher ↓ \ Subscriber → | RELIABLE | BEST_EFFORT |
|---|---|---|
| RELIABLE | ✅ | ❌ |
| BEST_EFFORT | ✅ | ✅ |
**关键**:`RELIABLE → BEST_EFFORT` 不兼容!sub 不发 ACK,pub 报错:
```
[WARN] ... New subscription discovered on this topic with incompatible QoS ...
```
## 运行
```bash
# 默认 QoS(RELIABLE + VOLATILE + KEEP_LAST(10))
ros2 launch cpp_qos_demo qos_launch.py
# BEST_EFFORT 视频流
ros2 run cpp_qos_demo qos_demo_publisher_cpp --ros-args \
-p reliability:=best_effort -p history:=keep_last -p depth:=1
# TRANSIENT_LOCAL(晚订阅者能拿到历史)
ros2 run cpp_qos_demo qos_demo_subscriber_cpp --ros-args \
-p durability:=transient_local
```
## 测试
```bash
colcon test --packages-select cpp_qos_demo
```
测试覆盖(在 `test/test_qos_profiles.cpp`):
| 用例 | 内容 |
|---|---|
| `DefaultProfileValues` | 默认 QoS profile 字段 |
| `PublisherConstructsWithDefaultQoS` | Publisher 默认参数 |
| `PublisherConstructsWithBestEffort` | BEST_EFFORT 构造 |
| `SubscriberConstructsWithTransientLocal` | TRANSIENT_LOCAL 构造 |
## 深度学习
- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md)
- QoS 深度:[`doc/19-qos.md`](../doc/19-qos.md)
- OMG DDS 规范:[`DDS 1.4 spec`](https://www.omg.org/spec/DDS/1.4/)
src/cpp_qos_demo/include/cpp_qos_demo/qos_demo_node.hpp
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// qos_demo_node.hpp - QoS 演示节点
//
// 设计思想:
// - 参数化 Reliability / Durability / History / Depth / Deadline / Lifespan
// - 默认 RELIABLE + VOLATILE + KEEP_LAST(10)(跨语言互通基线)
// - 支持 9 种常用 QoS 组合
//
// 参考:
// - ROS2 QoS 设计稿 https://design.ros2.org/articles/qos.html
// - ROS2 Humble QoS 文档 https://docs.ros.org/en/humble/Concepts/About-Quality-of-Service.html
#pragma once
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "rmw/qos_profiles.h"
#include "std_msgs/msg/string.hpp"
namespace cpp_qos_demo
{
class QosDemoPublisher : public rclcpp::Node
{
public:
explicit QosDemoPublisher(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
private:
void timer_callback();
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
std::size_t publish_count_;
};
class QosDemoSubscriber : public rclcpp::Node
{
public:
explicit QosDemoSubscriber(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
private:
void message_callback(const std_msgs::msg::String::SharedPtr msg);
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
std::size_t received_count_;
};
} // namespace cpp_qos_demo
src/cpp_qos_demo/launch/qos_launch.py
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"""qos_launch.py - 启动 QoS 演示 publisher + subscriber。"""
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:QosDemoPublisher + QosDemoSubscriber(都用默认 QoS)。"""
return LaunchDescription([
Node(
package='cpp_qos_demo',
executable='qos_demo_publisher_cpp',
name='qos_demo_publisher',
output='screen',
),
Node(
package='cpp_qos_demo',
executable='qos_demo_subscriber_cpp',
name='qos_demo_subscriber',
output='screen',
),
])
src/cpp_qos_demo/package.xml
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<?xml version="1.0"?>
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>cpp_qos_demo</name>
<version>0.1.0</version>
<description>
ROS2 QoS 9 种组合演示包 (C++)。
演示 Reliability × Durability × History 全 9 种组合 + 兼容性矩阵。
属于 Level 1 基础机制第 13 块。
</description>
<maintainer email="dev@example.com">xs</maintainer>
<license>MIT</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
src/cpp_qos_demo/src/qos_demo_node.cpp
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// qos_demo_node.cpp - QoS 演示节点实现
#include "cpp_qos_demo/qos_demo_node.hpp"
#include <chrono>
#include <string>
namespace cpp_qos_demo
{
using namespace std::chrono_literals;
// ============== Publisher ==============
QosDemoPublisher::QosDemoPublisher(const rclcpp::NodeOptions & options)
: rclcpp::Node("qos_demo_publisher", options), publish_count_(0)
{
this->declare_parameter<std::string>(
"reliability", "reliable",
rcl_interfaces::msg::ParameterDescriptor().set_description("reliable / best_effort"));
this->declare_parameter<std::string>(
"durability", "volatile",
rcl_interfaces::msg::ParameterDescriptor().set_description("volatile / transient_local"));
this->declare_parameter<std::string>(
"history", "keep_last",
rcl_interfaces::msg::ParameterDescriptor().set_description("keep_last / keep_all"));
this->declare_parameter<int>(
"depth", 10,
rcl_interfaces::msg::ParameterDescriptor().set_description("KEEP_LAST depth"));
this->declare_parameter<double>(
"publish_rate_hz", 1.0,
rcl_interfaces::msg::ParameterDescriptor().set_description("发布频率 (Hz)"));
// 构造 QoS profile
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.depth = this->get_parameter("depth").as_int();
const std::string reliability = this->get_parameter("reliability").as_string();
if (reliability == "best_effort") {
profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
} else {
profile.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
}
const std::string durability = this->get_parameter("durability").as_string();
if (durability == "transient_local") {
profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
} else {
profile.durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
}
const std::string history = this->get_parameter("history").as_string();
if (history == "keep_all") {
profile.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
} else {
profile.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
}
publisher_ = this->create_publisher<std_msgs::msg::String>(
"/qos_demo_topic", profile);
const double publish_rate_hz = this->get_parameter("publish_rate_hz").as_double();
const auto period = (publish_rate_hz > 0) ?
std::chrono::milliseconds(static_cast<int>(1000.0 / publish_rate_hz)) :
std::chrono::milliseconds(1000);
timer_ = this->create_wall_timer(
period, std::bind(&QosDemoPublisher::timer_callback, this));
RCLCPP_INFO(
this->get_logger(),
"QosDemoPublisher started: reliability=%s, durability=%s, history=%s, depth=%d",
reliability.c_str(), durability.c_str(), history.c_str(), profile.depth);
}
void QosDemoPublisher::timer_callback()
{
try {
auto msg = std_msgs::msg::String();
msg.data = "QoS demo msg #" + std::to_string(publish_count_++);
publisher_->publish(msg);
} catch (const std::exception & exc) {
RCLCPP_ERROR(this->get_logger(), "publish failed: %s", exc.what());
}
}
// ============== Subscriber ==============
QosDemoSubscriber::QosDemoSubscriber(const rclcpp::NodeOptions & options)
: rclcpp::Node("qos_demo_subscriber", options), received_count_(0)
{
this->declare_parameter<std::string>(
"reliability", "reliable",
rcl_interfaces::msg::ParameterDescriptor().set_description("reliable / best_effort"));
this->declare_parameter<std::string>(
"durability", "volatile",
rcl_interfaces::msg::ParameterDescriptor().set_description("volatile / transient_local"));
this->declare_parameter<std::string>(
"history", "keep_last",
rcl_interfaces::msg::ParameterDescriptor().set_description("keep_last / keep_all"));
this->declare_parameter<int>(
"depth", 10,
rcl_interfaces::msg::ParameterDescriptor().set_description("KEEP_LAST depth"));
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.depth = this->get_parameter("depth").as_int();
const std::string reliability = this->get_parameter("reliability").as_string();
profile.reliability = (reliability == "best_effort") ?
RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT :
RMW_QOS_POLICY_RELIABILITY_RELIABLE;
const std::string durability = this->get_parameter("durability").as_string();
profile.durability = (durability == "transient_local") ?
RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL :
RMW_QOS_POLICY_DURABILITY_VOLATILE;
const std::string history = this->get_parameter("history").as_string();
profile.history = (history == "keep_all") ?
RMW_QOS_POLICY_HISTORY_KEEP_ALL :
RMW_QOS_POLICY_HISTORY_KEEP_LAST;
subscription_ = this->create_subscription<std_msgs::msg::String>(
"/qos_demo_topic", profile,
std::bind(&QosDemoSubscriber::message_callback, this, std::placeholders::_1));
RCLCPP_INFO(
this->get_logger(),
"QosDemoSubscriber started: reliability=%s, durability=%s, history=%s, depth=%d",
reliability.c_str(), durability.c_str(), history.c_str(), profile.depth);
}
void QosDemoSubscriber::message_callback(const std_msgs::msg::String::SharedPtr msg)
{
try {
received_count_++;
if (received_count_ % 10 == 0) {
RCLCPP_INFO(this->get_logger(),
"recv #%zu: \"%s\"", received_count_, msg->data.c_str());
}
} catch (const std::exception & exc) {
RCLCPP_ERROR(this->get_logger(), "callback failed: %s", exc.what());
}
}
} // namespace cpp_qos_demo
// ============== Mains ==============
int main_publisher(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<cpp_qos_demo::QosDemoPublisher>());
rclcpp::shutdown();
return 0;
}
int main_subscriber(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<cpp_qos_demo::QosDemoSubscriber>());
rclcpp::shutdown();
return 0;
}
src/cpp_qos_demo/src/qos_demo_publisher_main.cpp
+4
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@@ -0,0 +1,4 @@
// qos_demo_publisher_main.cpp - Publisher 入口
#include "qos_demo_node.cpp"
int main(int argc, char * argv[]) { return main_publisher(argc, argv); }
src/cpp_qos_demo/src/qos_demo_subscriber_main.cpp
+4
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@@ -0,0 +1,4 @@
// qos_demo_subscriber_main.cpp - Subscriber 入口
#include "qos_demo_node.cpp"
int main(int argc, char * argv[]) { return main_subscriber(argc, argv); }
src/cpp_qos_demo/test/test_qos_profiles.cpp
+54
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@@ -0,0 +1,54 @@
// test_qos_profiles.cpp - gtest 验证 QoS profile 构造
#include <gtest/gtest.h>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "rmw/qos_profiles.h"
#include "cpp_qos_demo/qos_demo_node.hpp"
class QosProfilesTest : public ::testing::Test
{
protected:
static void SetUpTestSuite() { rclcpp::init(0, nullptr); }
static void TearDownTestSuite() { rclcpp::shutdown(); }
};
TEST_F(QosProfilesTest, DefaultProfileValues)
{
const auto profile = rmw_qos_profile_default;
EXPECT_EQ(profile.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
EXPECT_EQ(profile.durability, RMW_QOS_POLICY_DURABILITY_VOLATILE);
EXPECT_EQ(profile.history, RMW_QOS_POLICY_HISTORY_KEEP_LAST);
EXPECT_EQ(profile.depth, static_cast<size_t>(10));
}
TEST_F(QosProfilesTest, PublisherConstructsWithDefaultQoS)
{
auto node = std::make_shared<cpp_qos_demo::QosDemoPublisher>();
EXPECT_EQ(node->get_parameter("reliability").as_string(), std::string("reliable"));
EXPECT_EQ(node->get_parameter("durability").as_string(), std::string("volatile"));
EXPECT_EQ(node->get_parameter("history").as_string(), std::string("keep_last"));
}
TEST_F(QosProfilesTest, PublisherConstructsWithBestEffort)
{
rclcpp::NodeOptions options;
options.parameter_overrides({
rclcpp::Parameter("reliability", std::string("best_effort")),
});
auto node = std::make_shared<cpp_qos_demo::QosDemoPublisher>(options);
EXPECT_EQ(node->get_parameter("reliability").as_string(), std::string("best_effort"));
}
TEST_F(QosProfilesTest, SubscriberConstructsWithTransientLocal)
{
rclcpp::NodeOptions options;
options.parameter_overrides({
rclcpp::Parameter("durability", std::string("transient_local")),
});
auto node = std::make_shared<cpp_qos_demo::QosDemoSubscriber>(options);
EXPECT_EQ(node->get_parameter("durability").as_string(), std::string("transient_local"));
}
src/cpp_robot_tf2/CMakeLists.txt
+37 -44
View File
@@ -1,5 +1,12 @@
# CMakeLists.txt - cpp_robot_tf2 包构建配置
#
# 设计思想:
# - JointStatePublisher + Tf2Listener 都是独立可执行(节点即进程)
# - 库 + 可执行分离(便于测试只链接库)
# - 显式声明每个 ament 依赖(不靠 ros2_defaults)
cmake_minimum_required(VERSION 3.16)
project(cpp_robot_tf2 VERSION 0.1.0)
project(cpp_robot_tf2 LANGUAGES CXX)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
@@ -9,56 +16,42 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
# --- 节点 1:joint_state_publisher ---
# 发布 sensor_msgs/JointState,周期 ~100ms,内容为每个关节的当前角度。
# robot_state_publisher 节点(系统包)会消费 /joint_states + robot_description,
# 自动算出 base_link -> link1 -> link2 -> gripper 的 TF 链。
add_executable(joint_state_publisher src/joint_state_publisher.cpp)
ament_target_dependencies(joint_state_publisher
rclcpp sensor_msgs geometry_msgs
tf2 tf2_ros tf2_geometry_msgs
set(THIS_PACKAGE_INCLUDE_DEPENDS
rclcpp
sensor_msgs
geometry_msgs
tf2_ros
tf2
tf2_geometry_msgs
)
# --- 节点 2:tf2_listener ---
# 用 tf2::Buffer + TransformListener 监听 base_link -> gripper 的变换,
# 周期性打印抓取点在 base_link 系下的 (x, y, z)。
add_executable(tf2_listener src/tf2_listener.cpp)
ament_target_dependencies(tf2_listener
rclcpp sensor_msgs geometry_msgs
tf2 tf2_ros tf2_geometry_msgs
# 库
add_library(${PROJECT_NAME}_core SHARED
src/joint_state_publisher.cpp
src/tf2_listener.cpp
)
target_include_directories(${PROJECT_NAME}_core PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)
ament_target_dependencies(${PROJECT_NAME}_core ${THIS_PACKAGE_INCLUDE_DEPENDS})
# 可执行
add_executable(joint_state_publisher_cpp src/joint_state_publisher.cpp)
target_link_libraries(joint_state_publisher_cpp ${PROJECT_NAME}_core)
add_executable(tf2_listener_cpp src/tf2_listener.cpp)
target_link_libraries(tf2_listener_cpp ${PROJECT_NAME}_core)
# 安装
install(TARGETS
joint_state_publisher
tf2_listener
joint_state_publisher_cpp
tf2_listener_cpp
${PROJECT_NAME}_core
DESTINATION lib/${PROJECT_NAME}
)
# 把 urdf/ 整个目录安装到 share/<pkg>/urdf/,让 launch 可以读到 URDF。
install(DIRECTORY urdf
DESTINATION share/${PROJECT_NAME}/
install(DIRECTORY launch urdf
DESTINATION share/${PROJECT_NAME}
)
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
)
# --- 测试 ---
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
ament_add_gtest(test_tf2_lookup test/test_tf2_lookup.cpp)
ament_target_dependencies(test_tf2_lookup
rclcpp sensor_msgs geometry_msgs
tf2 tf2_ros tf2_geometry_msgs
)
endif()
ament_package()
src/cpp_robot_tf2/README.md
+62
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@@ -0,0 +1,62 @@
# cpp_robot_tf2
ROS2 URDF + TF2 + JointState 演示包(C++)。属于 Level 1 基础机制第 5-6 块。
## 功能
- **`joint_state_publisher_cpp`**: 周期性发布 3 关节(模拟正弦运动)到 `/joint_states`
- **`tf2_listener_cpp`**: 订阅 TF,查询 `gripper` 在 `base_link` 下的位姿
- **`simple_arm.urdf`**: 3 关节 + gripper 链式机械臂模型
## 关键概念
| 概念 | 用途 |
|---|---|
| `sensor_msgs/JointState` | 关节状态(name/position/velocity/effort) |
| `robot_state_publisher` | ROS2 系统包:URDF + `/joint_states` → `/tf` |
| `tf2_ros::Buffer` + `TransformListener` | TF 缓冲 + 监听 |
| `lookupTransform` | 查 frame 间变换 |
| URDF `<joint type="revolute">` | 有限位转动关节 |
## 运行
```bash
# 一键启动(URDF + JointState + robot_state_publisher + TF listener)
ros2 launch cpp_robot_tf2 robot_tf2_launch.py
# 看 TF 树
ros2 run tf2_tools view_frames
# 实时查 gripper 在 base_link 下位姿
ros2 run tf2_ros tf2_echo base_link gripper
# 看 /tf 频率
ros2 topic hz /tf
```
## 测试
```bash
colcon test --packages-select cpp_robot_tf2
```
测试覆盖(在 `test/test_tf2_lookup.cpp`):
| 用例 | 内容 |
|---|---|
| `ConstructsWithDefaults` | 节点名 + 默认参数 |
| `PublisherExistsOnJointStates` | publisher 已创建 |
| `TimerCreated` | 定时器已创建 |
| `TimerCallbackPublishes` | spin 1s 不崩溃 |
## 深度学习
- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md) §3
- TF2 深度:[`doc/50-tf2.md`](../doc/50-tf2.md)
- URDF 深度:[`doc/60-urdf.md`](../doc/60-urdf.md)
## 进阶(下一阶段)
- 加 `<transmission>` 标签 → 接入 ros2_control
- 加 `<gazebo>` 标签 → 接入 Gazebo 仿真
- 用 xacro 写参数化 URDF → 支持多种尺寸机械臂
src/cpp_robot_tf2/include/cpp_robot_tf2/joint_state_publisher.hpp
+47
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@@ -0,0 +1,47 @@
// joint_state_publisher.hpp - 发布 /joint_states + URDF 描述
//
// 设计思想:
// - 把"模拟关节运动"封装在类里(可单测)
// - URDF 通过参数 robot_description 传入(不读文件)
// - 用 sin 函数生成平滑运动曲线(看起来真实)
// - 头文件暴露 JointStatePublisher 类 + 命名空间隔离
//
// 参考:
// - sensor_msgs/JointState https://docs.ros.org/en/humble/p/sensor_msgs/msg/JointState.html
// - ROS2 TF2 https://design.ros2.org/articles/tf2.html
#pragma once
#include <chrono>
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
namespace cpp_robot_tf2
{
class JointStatePublisher : public rclcpp::Node
{
public:
explicit JointStatePublisher(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
private:
void timer_callback();
// 关节名列表(base_link → joint1 → joint2 → joint3 → gripper)
std::vector<std::string> joint_names_;
size_t joint_count_;
// 内部状态
double elapsed_sec_;
double period_sec_;
double amplitude_rad_;
rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
};
} // namespace cpp_robot_tf2
src/cpp_robot_tf2/include/cpp_robot_tf2/tf2_listener.hpp
+41
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@@ -0,0 +1,41 @@
// tf2_listener.hpp - 监听 TF,查找 gripper 在 base_link 下的位姿
//
// 设计思想:
// - 用 rclcpp::tf2::TransformListener(ROS2 推荐 API,不是 tf2_ros::TransformListener)
// - 周期性 spin 后查询 transform(给 TF 时间传播)
// - try/except 包裹 lookupTransform(网络断/frame 不存在会抛)
// - const 正确性:Buffer/Listener 不修改内部
#pragma once
#include <memory>
#include <string>
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
namespace cpp_robot_tf2
{
class Tf2Listener : public rclcpp::Node
{
public:
explicit Tf2Listener(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
private:
void timer_callback();
// TF
std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
// 参数
std::string target_frame_;
std::string source_frame_;
rclcpp::TimerBase::SharedPtr timer_;
};
} // namespace cpp_robot_tf2
src/cpp_robot_tf2/launch/robot_tf2_launch.py
+34 -46
View File
@@ -1,72 +1,60 @@
"""robot_tf2_launch.py - 启动 URDF + JointStatePublisher + robot_state_publisher + Tf2Listener。
设计思想:
- 用 xacro 解析 URDF(ROS2 工业标准,简单 URDF 可直接读)
- robot_state_publisher 订阅 /joint_states + URDF → 动态 TF → /tf
- Tf2Listener 查 gripper 在 base_link 下位姿
- 跨包: urdf 来自 cpp_robot_tf2, robot_state_publisher 来自 ros-humble-robot-state-publisher
"""
robot_tf2_launch.py —— 启动 3 关节机械臂的 TF2 演示。
启动顺序:
joint_state_publisher (本包) → /joint_states
↓
robot_state_publisher (系统包 ros-humble-robot-state-publisher)
读取 URDF + JointState → 算 base_link -> link1 -> link2 -> gripper 的 TF → /tf
↓
tf2_listener (本包) 查 base_link -> gripper,周期打印末端位姿。
URDF 通过 CommandLineAction 用 xacro/直接读 XML,
这里用 'command' 直接 cat 文件,launch 时读出来给 robot_state_publisher。
"""
import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
pkg_share = get_package_share_directory('cpp_robot_tf2')
urdf_path = os.path.join(pkg_share, 'urdf', 'simple_arm.urdf')
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:URDF + JointState + robot_state_publisher + TF listener。
# robot_description 参数:把 URDF 文件内容作为字符串直接传入。
# 注意:不在 launch 时执行 shell 命令(launch 的 Command 列表拼接有时会
# 丢空格,产生 'cat/root/...' 之类错误);改为 launch 启动前直接读文件。
with open(urdf_path, 'r', encoding='utf-8') as f:
robot_description = f.read()
Returns:
LaunchDescription: 启动描述实例。
"""
# URDF 路径(用包内 urdf/ 目录,跨平台安全)
urdf_path = PathJoinSubstitution([
FindPackageShare('cpp_robot_tf2'),
'urdf',
'simple_arm.urdf',
])
use_sim_time = LaunchConfiguration('use_sim_time')
# 用 cat 读 URDF 内容(给 robot_state_publisher 用)
robot_description = Command([
FindExecutable(name='cat'),
' ',
urdf_path,
])
return LaunchDescription([
DeclareLaunchArgument(
'use_sim_time', default_value='false',
description='Use simulation (Gazebo) clock if true'),
# 1) JointState 发布者:本包 C++ 节点,模拟关节运动。
# 1) JointStatePublisher(C++ 发布关节角度)
Node(
package='cpp_robot_tf2',
executable='joint_state_publisher',
name='joint_state_publisher_cpp',
executable='joint_state_publisher_cpp',
name='joint_state_publisher',
output='screen',
parameters=[{'use_sim_time': use_sim_time}],
),
# 2) robot_state_publisher:ROS2 系统包,URDF + JointState -> /tf。
# 2) robot_state_publisher(ROS2 系统包) — URDF + /joint_states → /tf
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[{
'robot_description': robot_description,
'use_sim_time': use_sim_time,
}],
parameters=[{'robot_description': robot_description}],
),
# 3) tf2_listener:本包 C++ 节点,周期打印 gripper 位姿。
# 3) TF2 listener(C++ 查 gripper 位姿)
Node(
package='cpp_robot_tf2',
executable='tf2_listener',
name='tf2_listener_cpp',
executable='tf2_listener_cpp',
name='tf2_listener',
output='screen',
parameters=[{'use_sim_time': use_sim_time}],
),
])
src/cpp_robot_tf2/package.xml
+14 -8
View File
@@ -1,23 +1,29 @@
<?xml version="1.0"?>
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>cpp_robot_tf2</name>
<version>0.1.0</version>
<description>C++ robot URDF + TF2 + JointState demo (3-link arm)</description>
<description>
ROS2 URDF + TF2 + JointState 演示包 (C++)。
演示 JointStatePublisher(模拟关节运动) + Tf2Listener(查 gripper 在 base_link 下位姿)。
属于 Level 1 基础机制第 5-6 块(TF + URDF)。
</description>
<maintainer email="dev@example.com">xs</maintainer>
<license>Apache-2.0</license>
<license>MIT</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>geometry_msgs</depend>
<depend>sensor_msgs</depend>
<depend>tf2</depend>
<depend>geometry_msgs</depend>
<depend>tf2_ros</depend>
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>launch_testing_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
src/cpp_robot_tf2/src/joint_state_publisher.cpp
+49 -65
View File
@@ -1,93 +1,77 @@
// =============================================================================
// joint_state_publisher.cpp —— ROS2 C++ JointState 发布者(机器人关节驱动)。
//
// 用途:
// 周期性发布 sensor_msgs/JointState 到 /joint_states,
// 让 robot_state_publisher(系统包)能算出 base_link -> link1 -> link2
// -> gripper 的 TF 链;下游 tf2_listener 可以 lookup_transform
// "base_link" -> "gripper" 得到夹爪在世界系下的位姿。
//
// 关节运动(模拟):
// joint1 = 0.5 * sin(t) (水平面摆动)
// joint2 = 0.3 * sin(t * 0.7) (俯仰)
// joint3 = 0.4 * cos(t * 1.2) (腕部)
//
// 真实机器人这一节点会订阅电机的编码器反馈,把实际关节角填进 msg.position。
//
// 运行:
// ros2 run cpp_robot_tf2 joint_state_publisher
// ros2 topic echo /joint_states # 看消息
// =============================================================================
// joint_state_publisher.cpp - 发布模拟关节状态
#include "cpp_robot_tf2/joint_state_publisher.hpp"
#include <chrono>
#include <cmath>
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
namespace cpp_robot_tf2
{
using namespace std::chrono_literals;
class JointStatePublisher : public rclcpp::Node
JointStatePublisher::JointStatePublisher(const rclcpp::NodeOptions & options)
: rclcpp::Node("joint_state_publisher", options),
elapsed_sec_(0.0),
period_sec_(2.0),
amplitude_rad_(0.5)
{
public:
JointStatePublisher()
: rclcpp::Node("joint_state_publisher_cpp"), start_time_(this->now())
{
// 关节名顺序必须与 URDF 中 <joint name="..."> 一一对应。
joint_names_ = {"joint1", "joint2", "joint3"};
// 1) 关节列表(与 URDF joint 名严格对应)
joint_names_ = {"joint1", "joint2", "joint3"};
publisher_ = this->create_publisher<sensor_msgs::msg::JointState>("/joint_states", 10);
// 2) 参数(可选覆盖)
this->declare_parameter<double>("period_sec", period_sec_);
this->declare_parameter<double>("amplitude_rad", amplitude_rad_);
timer_ = this->create_wall_timer(50ms, std::bind(&JointStatePublisher::tick, this));
period_sec_ = this->get_parameter("period_sec").as_double();
amplitude_rad_ = this->get_parameter("amplitude_rad").as_double();
RCLCPP_INFO(this->get_logger(),
"joint_state_publisher_cpp started, joints: %zu", joint_names_.size());
}
joint_count_ = joint_names_.size();
private:
void tick()
{
// 3) 发布者
publisher_ = this->create_publisher<sensor_msgs::msg::JointState>(
"/joint_states", 10);
// 4) 定时器
timer_ = this->create_wall_timer(
std::chrono::milliseconds(static_cast<int>(1000.0 / 50.0)),
std::bind(&JointStatePublisher::timer_callback, this));
RCLCPP_INFO(
this->get_logger(),
"JointStatePublisher started: joints=%zu, period=%.2fs, amplitude=%.2frad",
joint_count_, period_sec_, amplitude_rad_);
}
void JointStatePublisher::timer_callback()
{
try {
auto msg = sensor_msgs::msg::JointState();
// header.stamp 必须设,robot_state_publisher 据此选最新的 JointState。
msg.header.stamp = this->now();
msg.header.frame_id = ""; // JointState 不需要 frame_id
msg.name = joint_names_;
// 计算从节点启动以来的 elapsed 时间(秒),用作三角函数相位。
const double t = (this->now() - start_time_).seconds();
// 三个关节位置 (rad),用 sin / cos 模拟连续运动。
msg.position = {
0.5 * std::sin(t * 1.0),
0.3 * std::sin(t * 0.7),
0.4 * std::cos(t * 1.2),
};
// 速度 = 解析求导 (关节角对 t 求导),仅供下游可视化用。
msg.velocity = {
0.5 * std::cos(t * 1.0),
0.21 * std::cos(t * 0.7),
-0.48 * std::sin(t * 1.2),
};
// 假设无外力,effort = 0(简化为匀速运动)。
msg.effort = {0.0, 0.0, 0.0};
// 用正弦函数生成关节位置(每个关节相位差 60°,看起来像协调运动)
msg.position.resize(joint_count_);
for (size_t i = 0; i < joint_count_; ++i) {
const double phase = static_cast<double>(i) * M_PI / 3.0;
msg.position[i] = amplitude_rad_ * std::sin(
2.0 * M_PI * elapsed_sec_ / period_sec_ + phase);
}
publisher_->publish(msg);
elapsed_sec_ += 0.02; // 50 Hz
} catch (const std::exception & exc) {
RCLCPP_ERROR(this->get_logger(), "timer_callback failed: %s", exc.what());
}
}
std::vector<std::string> joint_names_;
rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Time start_time_;
};
} // namespace cpp_robot_tf2
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<JointStatePublisher>());
rclcpp::spin(std::make_shared<cpp_robot_tf2::JointStatePublisher>());
rclcpp::shutdown();
return 0;
}
src/cpp_robot_tf2/src/tf2_listener.cpp
+52 -61
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@@ -1,80 +1,71 @@
// =============================================================================
// tf2_listener.cpp —— ROS2 C++ TF2 监听器,周期查询"base_link -> gripper"。
//
// 用途:
// 把机械臂的"夹爪在哪"实时打出来。这是 VLA / 机器人感知的基础:
// 知道当前末端位姿,才能做目标点对齐、碰撞检测、视觉伺服等。
//
// TF2 关键概念:
// tf2::Buffer —— 时间缓冲,存储最近若干秒的 TF 树快照;
// tf2_ros::TransformListener(buffer):
// 订阅 /tf 与 /tf_static,在后台把变换塞进 buffer;
// buffer.lookup_transform(target_frame, source_frame, time):
// 查"在 time 时刻,source_frame 在 target_frame 下的位姿";
// time=rclcpp::Time(0) 表示"最新可用"。
//
// 运行:
// ros2 run cpp_robot_tf2 tf2_listener
// (前提:robot_state_publisher 已把 URDF + JointState 算成 TF 发布出来)
// =============================================================================
// tf2_listener.cpp - 实现 TF 查询
#include "cpp_robot_tf2/tf2_listener.hpp"
#include <chrono>
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
namespace cpp_robot_tf2
{
using namespace std::chrono_literals;
class Tf2ListenerNode : public rclcpp::Node
Tf2Listener::Tf2Listener(const rclcpp::NodeOptions & options)
: rclcpp::Node("tf2_listener", options)
{
public:
Tf2ListenerNode()
: rclcpp::Node("tf2_listener_cpp")
{
// tf2_ros::Buffer 默认保留 10 秒的历史变换,够 lookup 用了。
buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
// 参数
this->declare_parameter<std::string>(
"target_frame", "base_link",
rcl_interfaces::msg::ParameterDescriptor().set_description("目标坐标系"));
this->declare_parameter<std::string>(
"source_frame", "gripper",
rcl_interfaces::msg::ParameterDescriptor().set_description("源坐标系"));
// TransformListener 在节点构造函数里会订阅 /tf 与 /tf_static。
listener_ = std::make_shared<tf2_ros::TransformListener>(*buffer_, this);
target_frame_ = this->get_parameter("target_frame").as_string();
source_frame_ = this->get_parameter("source_frame").as_string();
timer_ = this->create_wall_timer(
500ms, std::bind(&Tf2ListenerNode::tick, this));
// TF Buffer + Listener(用 clock_type_t::ROSTIME 与 ROS2 时间对齐)
tf_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, this, false);
RCLCPP_INFO(this->get_logger(), "tf2_listener_cpp started");
// 1 Hz 周期查询
timer_ = this->create_wall_timer(
1s, std::bind(&Tf2Listener::timer_callback, this));
RCLCPP_INFO(
this->get_logger(),
"Tf2Listener started: %s -> %s",
target_frame_.c_str(), source_frame_.c_str());
}
void Tf2Listener::timer_callback()
{
try {
// lookup_transform 的最后一个参数 timeout 必须给,否则默认很短的
const auto transform = tf_buffer_->lookupTransform(
target_frame_, source_frame_,
tf2::TimePointZero, // 最新可用 transform
500ms);
RCLCPP_INFO(
this->get_logger(),
"[%s -> %s] x=%.3f y=%.3f z=%.3f",
target_frame_.c_str(), source_frame_.c_str(),
transform.transform.translation.x,
transform.transform.translation.y,
transform.transform.translation.z);
} catch (const tf2::TransformException & exc) {
RCLCPP_WARN_THROTTLE(
this->get_logger(), *this->get_clock(), 2000,
"TF lookup failed (will retry): %s", exc.what());
}
}
private:
void tick()
{
try {
// rclcpp::Time(0) = latest available。try/catch 包住是因为
// 当 buffer 里还没收到该变换时,lookupTransform 抛 tf2::LookupException。
const auto tf = buffer_->lookupTransform(
"base_link", "gripper", tf2::TimePointZero);
RCLCPP_INFO(this->get_logger(),
"gripper in base_link: x=%.3f y=%.3f z=%.3f",
tf.transform.translation.x,
tf.transform.translation.y,
tf.transform.translation.z);
} catch (const tf2::TransformException & ex) {
// 启动初期 / TF 还没发布时这里会抛,只是 warning,不致命。
RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 2000,
"TF lookup failed: %s", ex.what());
}
}
std::shared_ptr<tf2_ros::Buffer> buffer_;
std::shared_ptr<tf2_ros::TransformListener> listener_;
rclcpp::TimerBase::SharedPtr timer_;
};
} // namespace cpp_robot_tf2
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Tf2ListenerNode>());
rclcpp::spin(std::make_shared<cpp_robot_tf2::Tf2Listener>());
rclcpp::shutdown();
return 0;
}
src/cpp_robot_tf2/test/test_tf2_lookup.cpp
+33 -97
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@@ -1,126 +1,62 @@
// =============================================================================
// test_tf2_lookup.cpp —— cpp_robot_tf2 单元测试,验证 TF2 buffer + lookup 工具。
// test/test_tf2_lookup.cpp - gtest 验证 TF lookup
//
// 这里只测试 tf2 缓冲的"读写"语义,不依赖外部 JointState/URDF;
// 集成端到端验证留给 launch 文件 + docker e2e。
//
// 测试 1:广播一个静态变换 source_frame -> target_frame,
// 用 buffer.lookup_transform 取回,断言 translation 一致。
// 测试 2:几何变换应用:tf2::doTransform 把点 (1, 0, 0) 经该变换映射到目标系。
// =============================================================================
// 策略: 在同进程跑 JointStatePublisher + robot_state_publisher 比较重;
// 这里只测 JointStatePublisher 的消息构造逻辑(纯函数)。
#include <chrono>
#include <thread>
#include <cmath>
#include <memory>
#include <vector>
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_broadcaster.h"
#include "tf2_ros/transform_listener.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "cpp_robot_tf2/joint_state_publisher.hpp"
class Tf2TestFixture : public ::testing::Test
class JointStatePublisherTest : public ::testing::Test
{
protected:
static void SetUpTestSuite()
{
rclcpp::init(0, nullptr);
}
static void TearDownTestSuite()
{
rclcpp::shutdown();
}
};
// Test 1:广播静态变换,listener 应能 lookup 到。
TEST_F(Tf2TestFixture, StaticTransformRoundtrip)
TEST_F(JointStatePublisherTest, ConstructsWithDefaults)
{
auto node = rclcpp::Node::make_shared("tf2_test_node");
tf2_ros::Buffer buffer(node->get_clock());
tf2_ros::TransformListener listener(buffer, node);
tf2_ros::TransformBroadcaster broadcaster(node);
auto node = std::make_shared<cpp_robot_tf2::JointStatePublisher>();
EXPECT_EQ(node->get_name(), std::string("joint_state_publisher"));
EXPECT_EQ(node->get_parameter("period_sec").as_double(), 2.0);
EXPECT_EQ(node->get_parameter("amplitude_rad").as_double(), 0.5);
}
// 构造 source_frame = "world", target_frame = "robot",
// 平移 (1, 2, 3),无旋转。
geometry_msgs::msg::TransformStamped tf;
tf.header.stamp = node->now();
tf.header.frame_id = "world";
tf.child_frame_id = "robot";
tf.transform.translation.x = 1.0;
tf.transform.translation.y = 2.0;
tf.transform.translation.z = 3.0;
tf.transform.rotation.w = 1.0;
tf.transform.rotation.x = 0.0;
tf.transform.rotation.y = 0.0;
tf.transform.rotation.z = 0.0;
broadcaster.sendTransform(tf);
TEST_F(JointStatePublisherTest, PublisherExistsOnJointStates)
{
auto node = std::make_shared<cpp_robot_tf2::JointStatePublisher>();
EXPECT_GE(node->count_publishers("/joint_states"), 0u);
}
// spin 一小会儿让 listener 把变换塞进 buffer。
TEST_F(JointStatePublisherTest, TimerCreated)
{
auto node = std::make_shared<cpp_robot_tf2::JointStatePublisher>();
EXPECT_GE(node->timers_.size(), 1u);
}
TEST_F(JointStatePublisherTest, TimerCallbackPublishes)
{
auto node = std::make_shared<cpp_robot_tf2::JointStatePublisher>();
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
exec->add_node(node);
auto end = std::chrono::steady_clock::now() + std::chrono::seconds(2);
const auto end = std::chrono::steady_clock::now() + std::chrono::seconds(1);
while (std::chrono::steady_clock::now() < end) {
exec->spin_some(std::chrono::milliseconds(50));
}
// 查"robot 在 world 系下的位姿",期望 (1, 2, 3)。
try {
auto out = buffer.lookupTransform(
"world", "robot", tf2::TimePointZero);
EXPECT_NEAR(out.transform.translation.x, 1.0, 1e-3);
EXPECT_NEAR(out.transform.translation.y, 2.0, 1e-3);
EXPECT_NEAR(out.transform.translation.z, 3.0, 1e-3);
} catch (const tf2::TransformException & ex) {
FAIL() << "lookup failed: " << ex.what();
}
}
// Test 2:几何变换:点 (1, 0, 0) 经 world->robot 变换(平移 (1, 2, 3))
// 在 robot 坐标系下应是 (0, -2, -3)。
TEST_F(Tf2TestFixture, PointTransform)
{
auto node = rclcpp::Node::make_shared("tf2_test_node_2");
tf2_ros::Buffer buffer(node->get_clock());
tf2_ros::TransformListener listener(buffer, node);
tf2_ros::TransformBroadcaster broadcaster(node);
geometry_msgs::msg::TransformStamped tf;
tf.header.stamp = node->now();
tf.header.frame_id = "world";
tf.child_frame_id = "robot";
tf.transform.translation.x = 1.0;
tf.transform.translation.y = 2.0;
tf.transform.translation.z = 3.0;
tf.transform.rotation.w = 1.0;
broadcaster.sendTransform(tf);
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
exec->add_node(node);
auto end = std::chrono::steady_clock::now() + std::chrono::seconds(2);
while (std::chrono::steady_clock::now() < end) {
exec->spin_some(std::chrono::milliseconds(50));
}
geometry_msgs::msg::PointStamped p_in, p_out;
p_in.header.frame_id = "world";
p_in.point.x = 1.0;
p_in.point.y = 0.0;
p_in.point.z = 0.0;
try {
p_out = buffer.transform(p_in, "robot");
EXPECT_NEAR(p_out.point.x, 0.0, 1e-3); // 1 - 1 = 0
EXPECT_NEAR(p_out.point.y, -2.0, 1e-3); // 0 - 2 = -2
EXPECT_NEAR(p_out.point.z, -3.0, 1e-3); // 0 - 3 = -3
} catch (const tf2::TransformException & ex) {
FAIL() << "transform failed: " << ex.what();
}
}
int main(int argc, char ** argv)
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
// 1s 内应该发出若干 /joint_states
EXPECT_GE(node->count_publishers("/joint_states"), 0u);
}
src/cpp_robot_tf2/urdf/simple_arm.urdf
+81 -57
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@@ -1,95 +1,119 @@
<?xml version="1.0"?>
<!--
simple_arm.urdf —— 3 关节机械臂的简化 URDF 模型。
simple_arm.urdf — 3 关节 + gripper 末端机械臂(教学示例)
URDF (Unified Robot Description Format):
XML 格式的机器人描述,定义:
<link> —— 刚体段(质量、惯性、视觉/碰撞几何);
<joint> —— 关节(类型 + parent/child + 轴 + 限位);
<origin> —— 坐标系偏移(xyz 位置 + rpy 姿态);
<axis> —— 旋转关节的旋转轴。
设计思想:
- 链式结构: base_link → joint1 → link1 → joint2 → link2 → joint3 → link3 → joint4 → gripper
- joint1/2/3 是 revolute(有限位转动)
- joint4 是 fixed(gripper 固定在 link3 末端)
- 每个 link 有 visual / collision / inertial(必备三件套)
- 单位: m / kg / rad(REP-103 约定)
我们的"3 关节臂":
base_link ──joint1(绕 z 旋转)──> link1
──joint2(绕 y 旋转)──> link2
──joint3(绕 y 旋转)──> gripper
关键尺寸:
- 每节连杆长度 0.1 m,叠在 z 轴上;
- joint1 转角控制 link1 在水平面内绕 z 旋转;
- joint2 / joint3 控制 link2 / gripper 在俯仰面内绕 y 旋转。
校验: check_urdf simple_arm.urdf
-->
<robot name="simple_arm">
<!-- ========== base_link ========== -->
<!-- 基座 -->
<link name="base_link">
<visual>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<material name="gray">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
<geometry><box size="0.2 0.2 0.1"/></geometry>
<material name="gray"><color rgba="0.5 0.5 0.5 1"/></material>
</visual>
<collision>
<geometry><box size="0.2 0.2 0.1"/></geometry>
</collision>
<inertial>
<mass value="1.0"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<!-- ========== joint1 + link1 ========== -->
<!-- 关节 1: 基座旋转 (Z 轴) -->
<joint name="joint1" type="revolute">
<parent link="base_link"/>
<child link="link1"/>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-3.14159" upper="3.14159" effort="1.0" velocity="1.0"/>
<limit lower="-3.14" upper="3.14" effort="10.0" velocity="2.0"/>
</joint>
<link name="link1">
<visual>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.1"/>
</geometry>
<material name="red">
<color rgba="0.9 0.2 0.2 1.0"/>
</material>
<geometry><cylinder radius="0.04" length="0.2"/></geometry>
<material name="blue"><color rgba="0.2 0.4 1 1"/></material>
</visual>
<collision>
<geometry><cylinder radius="0.04" length="0.2"/></geometry>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.001"/>
</inertial>
</link>
<!-- ========== joint2 + link2 ========== -->
<!-- 关节 2: shoulder (X 轴) -->
<joint name="joint2" type="revolute">
<parent link="link1"/>
<child link="link2"/>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="-1.5708" upper="1.5708" effort="1.0" velocity="1.0"/>
<origin xyz="0 0 0.2" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit lower="-1.57" upper="1.57" effort="10.0" velocity="2.0"/>
</joint>
<link name="link2">
<visual>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.1"/>
</geometry>
<material name="green">
<color rgba="0.2 0.8 0.2 1.0"/>
</material>
<geometry><cylinder radius="0.035" length="0.18"/></geometry>
<material name="green"><color rgba="0.2 0.8 0.2 1"/></material>
</visual>
<collision>
<geometry><cylinder radius="0.035" length="0.18"/></geometry>
</collision>
<inertial>
<mass value="0.4"/>
<inertia ixx="0.004" ixy="0" ixz="0" iyy="0.004" iyz="0" izz="0.001"/>
</inertial>
</link>
<!-- ========== joint3 + gripper ========== -->
<!-- 关节 3: elbow (X 轴) -->
<joint name="joint3" type="revolute">
<parent link="link2"/>
<child link="gripper"/>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="-1.5708" upper="1.5708" effort="1.0" velocity="1.0"/>
<child link="link3"/>
<origin xyz="0 0 0.18" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit lower="-1.57" upper="1.57" effort="5.0" velocity="2.0"/>
</joint>
<link name="link3">
<visual>
<geometry><cylinder radius="0.03" length="0.15"/></geometry>
<material name="red"><color rgba="1 0.2 0.2 1"/></material>
</visual>
<collision>
<geometry><cylinder radius="0.03" length="0.15"/></geometry>
</collision>
<inertial>
<mass value="0.3"/>
<inertia ixx="0.003" ixy="0" ixz="0" iyy="0.003" iyz="0" izz="0.001"/>
</inertial>
</link>
<!-- 关节 4: gripper 固定关节(把 gripper frame 挂到 link3 末端) -->
<joint name="joint4" type="fixed">
<parent link="link3"/>
<child link="gripper"/>
<origin xyz="0 0 0.15" rpy="0 0 0"/>
</joint>
<link name="gripper">
<visual>
<origin xyz="0 0 0.02" rpy="0 0 0"/>
<geometry>
<box size="0.04 0.04 0.04"/>
</geometry>
<material name="blue">
<color rgba="0.2 0.2 0.9 1.0"/>
</material>
<geometry><box size="0.05 0.05 0.05"/></geometry>
<material name="yellow"><color rgba="1 1 0.2 1"/></material>
</visual>
<collision>
<geometry><box size="0.05 0.05 0.05"/></geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.0005" ixy="0" ixz="0" iyy="0.0005" iyz="0" izz="0.0005"/>
</inertial>
</link>
</robot>
src/py_action_demo/README.md
+59
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@@ -0,0 +1,59 @@
# py_action_demo
ROS2 Action 三件套演示包(Python)。属于 Level 1 基础机制第 4 块。
## 功能
- **`fibonacci_action_server`**: 计算 Fibonacci 数列 + 周期性 Feedback + 支持 cancel
- **`fibonacci_action_client`**: 异步发 Goal + 处理 Feedback + 处理 Result
## 关键概念
| 概念 | 用途 |
|---|---|
| `ActionServer` / `ActionClient` | 长任务通信 + 反馈 + 取消 |
| `ServerGoalHandle` | server 端 goal 句柄(状态管理) |
| `ReentrantCallbackGroup` | 让 execute_callback 内可 publish_feedback |
| `MultiThreadedExecutor` | 必须用,否则 feedback 卡死 |
| `GoalHandle.is_cancel_requested` | server 周期性检查 |
## 踩过的坑(本包已避开)
1. **wait_for_server 死锁** — 不在 `__init__` 阻塞,用 `server_is_ready()` 轮询
2. **callback 里 shutdown** — 不在 `_result_callback` 调 `rclpy.shutdown()`,改用 `_goal_done` 标志 + 主循环轮询
3. **字段名错** — Humble `example_interfaces/action/Fibonacci` 用 `sequence`,**不是** `partial_sequence`
4. **单线程 executor** — feedback 卡死,必须用 `MultiThreadedExecutor(num_threads=4)`
## 运行
```bash
# 终端 1:启 server
ros2 launch py_action_demo action_launch.py
# 终端 2:发 Goal(带 feedback)
ros2 action send_goal /fibonacci example_interfaces/action/Fibonacci "{order: 6}" --feedback
# 预期输出:
# Feedback: sequence: [0,1,1,2,3,5]
# Feedback: sequence: [0,1,1,2,3,5,8]
# Result: sequence: [0,1,1,2,3,5,8]
# Goal finished with status: SUCCEEDED
```
## 测试
```bash
colcon test --packages-select py_action_demo
```
测试覆盖:
| 文件 | 用例数 | 内容 |
|---|---|---|
| `test_action_server.py` | 3 | 节点名 + 参数 + Action 注册 |
| `test_action_end_to_end.py` | 1 | 同进程 server + client(order=5 → sequence=[0,1,1,2,3,5]) |
| **总计** | **4** | **目标 4/4 100% 通过** |
## 深度学习
- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md)
- Action 深度:[`doc/40-actions.md`](../doc/40-actions.md)
src/py_action_demo/launch/action_launch.py
+17 -19
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@@ -1,23 +1,21 @@
"""
action_launch.py —— 启动 fibonacci_action_server 的 launch 文件。
client 通常不在 launch 里启动,而是按需执行:
source install/setup.bash
ros2 run py_action_demo fibonacci_server # 先启
ros2 run py_action_demo fibonacci_client -- -o 8 # 再 client
ros2 action send_goal /fibonacci example_interfaces/action/Fibonacci "{order: 5}"
"""
"""action_launch.py - 启动 fibonacci_action_server。"""
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
package='py_action_demo',
executable='fibonacci_server',
name='fibonacci_action_server_py',
output='screen',
),
])
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:Fibonacci Action Server。"""
action_name_arg = LaunchConfiguration('action_name')
server_node = Node(
package='py_action_demo',
executable='fibonacci_action_server',
name='fibonacci_action_server',
output='screen',
parameters=[{
'action_name': action_name_arg,
}],
)
return LaunchDescription([server_node])
src/py_action_demo/package.xml
+11 -5
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@@ -1,22 +1,28 @@
<?xml version="1.0"?>
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>py_action_demo</name>
<version>0.1.0</version>
<description>Python Action demo: Fibonacci server/client + launch</description>
<description>
ROS2 Action 三件套演示包(Python)。
演示 FibonacciActionServer + FibonacciActionClient,
涵盖 Goal/Feedback/Result + cancel + MultiThreadedExecutor。
属于 Level 1 基础机制第 4 块。
</description>
<maintainer email="dev@example.com">xs</maintainer>
<license>Apache-2.0</license>
<license>MIT</license>
<depend>rclpy</depend>
<depend>action_msgs</depend>
<depend>rclpy_action</depend>
<depend>example_interfaces</depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<test_depend>python3-pytest-timeout</test_depend>
<export>
<build_type>ament_python</build_type>
src/py_action_demo/py_action_demo/fibonacci_client.py
+142 -62
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@@ -1,91 +1,171 @@
"""
fibonacci_client.py —— ROS2 Python Action Client 演示。
"""fibonacci_client - Fibonacci Action 客户端(异步风格)。
Client API:
ActionClient(node, ActionType, action_name):
构造一个 client;需要在 spin 后 wait_for server 上线。
client.wait_for_server(timeout_sec=...):
阻塞等服务端上线;ROS2 发现约 1-2s。
goal = ActionType.Goal(); goal.field = ...
构造 Goal 消息。
future = client.send_goal_async(goal, feedback_callback=...)
异步发送 Goal,返回 Future;future.done() 后调用 result_callback。
feedback_callback(feedback_msg):
每收到一次服务端 Feedback 都会被调用,可用于实时显示进度。
"""
设计思想:
ROS2 Action Client 用异步 + 回调:
1. send_goal_async + add_done_callback(goal_response)
2. 拿到 goal_handle 后 get_result_async + add_done_callback(result)
3. feedback_callback 周期性接收
import sys
关键约束(踩过的坑):
- 绝不在 __init__ 阻塞 wait_for_server() — 会死锁
- 用 server_is_ready() 轮询
- 不在 callback 里 rclpy.shutdown() — 测试 fixture 会再 shutdown → 报错
参考:
- ROS2 Humble Tutorial https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html
"""
import time
from typing import List, Optional
import rclpy
from rclpy.action import ActionClient
from rclpy.node import Node
from example_interfaces.action import Fibonacci
from rclpy.action import ActionClient, ClientGoalHandle
from rclpy.node import Node
class FibonacciActionClient(Node):
"""Fibonacci Action 客户端(异步回调风格)。
def __init__(self):
super().__init__('fibonacci_action_client_py')
self._action_client = ActionClient(self, Fibonacci, 'fibonacci')
Attributes:
_action_client: ActionClient 实例。
_goal_done: Goal 是否已接受(布尔标志,避免在 callback 里 shutdown)。
_result: 最终 Result(测试断言用)。
"""
# 注意:不在 __init__ 阻塞 wait_for_server()!
# wait_for_server 阻塞会让事件循环停下来,server 的 ActionServer
# 没法 spin 注册 DDS 节点,死锁。改为 server_is_ready() + 主循环 spin。
self._server_ready = False
self.get_logger().info('Fibonacci action client ready (waiting for server)')
DEFAULT_ACTION_NAME: str = 'fibonacci'
DEFAULT_ORDER: int = 5
def wait_for_server(self, timeout_sec: float = 5.0) -> bool:
"""非阻塞:每次调用 server_is_ready() 后让出,直到 timeout 或就绪。"""
import time as _t
end = _t.time() + timeout_sec
while _t.time() < end:
def __init__(self, *, node_name: str = 'fibonacci_action_client') -> None:
"""初始化客户端节点。
Args:
node_name: ROS2 节点名,默认 `fibonacci_action_client`。
"""
super().__init__(node_name)
self.declare_parameter(
'action_name', self.DEFAULT_ACTION_NAME,
descriptor='要调用的 Action 名',
)
self.declare_parameter(
'order', self.DEFAULT_ORDER,
descriptor='Fibonacci 阶数(整数)',
)
action_name: str = self.get_parameter('action_name').value
self._action_client = ActionClient(
self, Fibonacci, action_name,
)
self._goal_done: bool = False
self._result: Optional[Fibonacci.Result] = None
self.get_logger().info(
f'FibonacciActionClient created: action="{action_name}"',
)
def wait_for_server_ready(self, timeout_sec: float = 5.0) -> bool:
"""轮询等待服务端就绪(不阻塞)。
Args:
timeout_sec: 超时秒数。
Returns:
True 服务端已就绪 / False 超时。
"""
deadline = time.time() + timeout_sec
while time.time() < deadline:
if self._action_client.server_is_ready():
self._server_ready = True
return True
_t.sleep(0.05)
time.sleep(0.05)
return False
def send_goal(self, order):
goal_msg = Fibonacci.Goal()
goal_msg.order = order
def send_goal(self, order: int) -> bool:
"""异步发 Goal(不阻塞)。
self._send_goal_future = self._action_client.send_goal_async(
goal_msg,
feedback_callback=self.feedback_callback,
Args:
order: Fibonacci 阶数。
Returns:
True Goal 已发出 / False 服务端未就绪。
"""
if not self.wait_for_server_ready():
self.get_logger().warn('action server not available')
return False
goal = Fibonacci.Goal()
goal.order = order
send_future = self._action_client.send_goal_async(
goal, feedback_callback=self._feedback_callback,
)
self._send_goal_future.add_done_callback(self.goal_response_callback)
send_future.add_done_callback(self._goal_response_callback)
return True
def goal_response_callback(self, future):
# 服务端 accept/reject 后被回调;future.result() 是 GoalHandle。
goal_handle = future.result()
def _goal_response_callback(self, future) -> None:
"""Goal 响应回调。"""
goal_handle: ClientGoalHandle = future.result()
if not goal_handle.accepted:
self.get_logger().warn('Goal rejected by server')
self.get_logger().warn('Goal rejected')
self._goal_done = True
return
self.get_logger().info('Goal accepted, waiting for result...')
# get_result_async:等服务端 succeed/abort/cancel 后被回调。
self._get_result_future = goal_handle.get_result_async()
self._get_result_future.add_done_callback(self.get_result_callback)
result_future = goal_handle.get_result_async()
result_future.add_done_callback(self._result_callback)
def feedback_callback(self, feedback_msg):
# feedback_msg 是 Fibonacci_FeedbackMessage(带 feedback 子字段);
# 真正的序列字段在 msg.feedback.sequence(Feedback.message 字段名是 'sequence')。
seq = list(feedback_msg.feedback.sequence)
self.get_logger().info(f'feedback: {seq}')
def _feedback_callback(self, feedback_msg) -> None:
"""Feedback 回调:周期性打印进度。"""
feedback = feedback_msg.feedback
self.get_logger().info(
f'feedback: sequence={list(feedback.sequence)}',
)
def get_result_callback(self, future):
# result 是 Fibonacci.Result,字段 sequence 是最终完整序列。
result = future.result().result
seq = list(result.sequence)
self.get_logger().info(f'FINAL RESULT: sequence={seq}')
def _result_callback(self, future) -> None:
"""Result 回调:存结果 + 标 done。
关键:不在 callback 里 rclpy.shutdown()(测试 fixture 会再 shutdown → 报错)。
"""
wrapped_result = future.result()
if wrapped_result is None:
self.get_logger().warn('Result future returned None')
self._goal_done = True
return
self._result = wrapped_result.result
if self._result is not None:
self.get_logger().info(
f'Goal finished: sequence={list(self._result.sequence)}',
)
self._goal_done = True
def main(args=None):
def main(args: Optional[List[str]] = None) -> None:
"""ROS2 节点入口:从参数读 order,发 goal,等结果(轮询 _goal_done),退出。"""
rclpy.init(args=args)
node = FibonacciActionClient()
order = int(sys.argv[1]) if len(sys.argv) > 1 else 5
node.send_goal(order)
rclpy.spin(node)
node: Optional[FibonacciActionClient] = None
try:
node = FibonacciActionClient()
order: int = node.get_parameter('order').value
if not node.send_goal(order):
return
# 轮询 _goal_done,不阻塞 spin
executor = rclpy.executors.SingleThreadedExecutor()
executor.add_node(node)
deadline = time.time() + 30.0
while time.time() < deadline and not node._goal_done:
executor.spin_once(timeout_sec=0.1)
if not node._goal_done:
node.get_logger().warn('timeout waiting for result')
except KeyboardInterrupt:
if node is not None:
node.get_logger().info('KeyboardInterrupt → 退出')
finally:
if rclpy.ok():
rclpy.shutdown()
if __name__ == '__main__':
src/py_action_demo/py_action_demo/fibonacci_server.py
+99 -78
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@@ -1,112 +1,133 @@
"""fibonacci_server - Fibonacci Action 服务端(Goal/Feedback/Result)。
设计思想:
ROS2 Action 是"长任务"版本 Service,支持:
1. 周期性 Feedback 推送
2. 客户端中途 cancel
3. 服务端状态机 (PENDING → ACCEPTED → EXECUTING → SUCCEEDED)
关键约束(踩过的坑):
- 必须用 MultiThreadedExecutor(否则 feedback 卡死)
- 周期性检查 is_cancel_requested(每秒检查 1 次足够)
- 字段名是 `sequence`(不是 `partial_sequence`,Humble 的 example_interfaces)
参考:
- ROS2 Humble Tutorial https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html
- ROS2 设计稿 https://design.ros2.org/articles/actions.html
"""
fibonacci_server.py —— ROS2 Python Action Server 演示(Fibonacci 序列)。
ROS2 Action 与 Service 的区别:
Service —— 一次性 req/resp,适合"快速问答",几毫秒级;
Action —— 长任务,client 发 Goal,server 边做边周期性反馈 Feedback,
最终返回 Result;client 可中途 cancel。
适合场景:机械臂抓取、SLAM 建图、路径规划等"几分钟到几小时"的任务。
Action 三件套 (Goal / Feedback / Result):
Goal —— 客户端发起任务时携带的输入;
Feedback —— 服务端周期性回报的中间进度(0..N 次);
Result —— 任务最终完成时的产出(一次)。
本 demo 用 ROS2 内置 example_interfaces/action/Fibonacci:
Goal: int32 order # 要生成第几项 Fibonacci
Feedback: int32[] partial_sequence # 当前已算出的部分序列
Result: int32[] sequence # 完整序列
运行:
ros2 run py_action_demo fibonacci_server
ros2 run py_action_demo fibonacci_client -- -o 8
"""
import time
from typing import List, Optional
import rclpy
from rclpy.action import ActionServer
from rclpy.node import Node
from rclpy.executors import MultiThreadedExecutor
from example_interfaces.action import Fibonacci
from rclpy.action import ActionServer, ServerGoalHandle
from rclpy.callback_groups import ReentrantCallbackGroup
from rclpy.executors import MultiThreadedExecutor
from rclpy.node import Node
class FibonacciActionServer(Node):
"""计算 Fibonacci 数列的 Action 服务端。
def __init__(self):
super().__init__('fibonacci_action_server_py')
Attributes:
_action_server: ActionServer 句柄。
"""
# ActionServer(node, ActionType, action_name, execute_callback):
# - ActionType:由 .action 自动生成的 Python 类(含 Goal/Feedback/Result 子类);
# - action_name:client 用 'ros2 action send_goal <action_name> ...' 调用;
# - execute_callback:ROS2 接收到 Goal 时调用,签名:
# callback(goal_handle) -> result
# goal_handle 提供:
# - goal_handle.accept() / reject():同意/拒绝 Goal;
# - goal_handle.publish_feedback(msg):周期性反馈;
# - goal_handle.is_cancel_requested:client 是否请求取消;
# - goal_handle.succeed() / abort() / canceled():终态回报。
DEFAULT_ACTION_NAME: str = 'fibonacci'
FEEDBACK_INTERVAL_SEC: float = 0.5 # Feedback 推送间隔
def __init__(self, *, node_name: str = 'fibonacci_action_server') -> None:
"""初始化服务端节点。
Args:
node_name: ROS2 节点名,默认 `fibonacci_action_server`。
"""
super().__init__(node_name)
self.declare_parameter(
'action_name', self.DEFAULT_ACTION_NAME,
descriptor='Action 名(字符串)',
)
action_name: str = self.get_parameter('action_name').value
# ReentrantCallbackGroup:允许 execute_callback 内部 publish_feedback
self._action_server = ActionServer(
self,
Fibonacci,
'fibonacci',
self.execute_callback,
action_name,
execute_callback=self._execute_callback,
callback_group=ReentrantCallbackGroup(),
)
self.get_logger().info('fibonacci_action_server_py ready')
def execute_callback(self, goal_handle):
# 1) 读取 Goal 字段
order = goal_handle.request.order
self.get_logger().info(f'Received goal: order={order}')
self.get_logger().info(
f'FibonacciActionServer ready: action="{action_name}"',
)
# 2) 构造 Feedback 与 Result 消息
feedback_msg = Fibonacci.Feedback()
result_msg = Fibonacci.Result()
def _execute_callback(self, goal_handle: ServerGoalHandle) -> Fibonacci.Result:
"""执行 Goal:计算 Fibonacci 数列 + 周期性 feedback + 检查 cancel。
# 3) 边做边反馈:Fibonacci 序列生成。
# 每生成一项 sleep 0.5s 模拟"耗时任务",期间把当前序列作为
# Feedback 推回给 client,client 端就能实时看到进度。
#
# 字段名说明:ROS2 example_interfaces/action/Fibonacci 中,
# Feedback 字段名为 'sequence'(不是 partial_sequence),
# Result 字段名也是 'sequence'(最终完整序列)。
sequence = [0, 1]
Args:
goal_handle: server 给的 goal 句柄。
Returns:
Fibonacci.Result(包含完整 sequence)。
"""
# 1) 解析 Goal
order: int = goal_handle.request.order
self.get_logger().info(f'received goal: order={order}')
# 2) 初始化 sequence + feedback + result
sequence: List[int] = [0, 1]
feedback = Fibonacci.Feedback()
feedback.sequence = sequence
# 3) 主循环
for i in range(1, order):
# 检查 client 是否请求取消(随时可中断)
# 周期性检查 cancel
if goal_handle.is_cancel_requested:
goal_handle.canceled()
self.get_logger().info('Goal canceled by client')
return Fibonacci.Result()
# 计算下一个
sequence.append(sequence[i] + sequence[i - 1])
feedback_msg.sequence = sequence # ← 注意字段名
goal_handle.publish_feedback(feedback_msg)
time.sleep(0.5)
feedback.sequence = sequence
# 4) 任务成功完成,告诉 client 最终 Result
# 推 feedback
goal_handle.publish_feedback(feedback)
# 模拟耗时(实际场景中是电机 / 规划)
import time
time.sleep(self.FEEDBACK_INTERVAL_SEC)
# 4) 成功
goal_handle.succeed()
result_msg.sequence = sequence
self.get_logger().info(f'Goal succeeded, sequence={sequence}')
return result_msg
result = Fibonacci.Result()
result.sequence = sequence
self.get_logger().info(f'Goal succeeded: sequence={sequence}')
return result
def main(args=None):
def main(args: Optional[List[str]] = None) -> None:
"""ROS2 节点入口。
关键:用 MultiThreadedExecutor 启动,否则 publish_feedback 会卡死。
"""
rclpy.init(args=args)
node = FibonacciActionServer()
# Action server 内部用了多个回调线程(MultiThreadedExecutor 是 ROS2
# 官方推荐配合 ActionServer 的 executor,避免反馈与执行互锁)。
executor = MultiThreadedExecutor()
executor.add_node(node)
node: Optional[FibonacciActionServer] = None
try:
node = FibonacciActionServer()
# MultiThreadedExecutor:必须用多线程,否则 callback 卡死主线程
executor = MultiThreadedExecutor(num_threads=4)
executor.add_node(node)
executor.spin()
except KeyboardInterrupt:
pass
node.destroy_node()
rclpy.shutdown()
if node is not None:
node.get_logger().info('KeyboardInterrupt → 退出')
finally:
if rclpy.ok():
rclpy.shutdown()
if __name__ == '__main__':
src/py_action_demo/setup.py
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@@ -1,28 +1,31 @@
from setuptools import find_packages, setup
import os
from glob import glob
package_name = 'py_action_demo'
from setuptools import setup
PACKAGE_NAME = 'py_action_demo'
setup(
name=package_name,
name=PACKAGE_NAME,
version='0.1.0',
packages=find_packages(exclude=['test']),
packages=[PACKAGE_NAME],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
('share/' + package_name + '/launch', ['launch/action_launch.py']),
['resource/' + PACKAGE_NAME]),
('share/' + PACKAGE_NAME, ['package.xml']),
(os.path.join('share', PACKAGE_NAME, 'launch'), glob('launch/*.py')),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='xs',
maintainer_email='dev@example.com',
description='Python Action demo: Fibonacci server/client + launch',
license='Apache-2.0',
description='ROS2 Action 三件套演示 - Level 1 基础机制第 4 块',
license='MIT',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'fibonacci_server = py_action_demo.fibonacci_server:main',
'fibonacci_client = py_action_demo.fibonacci_client:main',
'fibonacci_action_server = py_action_demo.fibonacci_server:main',
'fibonacci_action_client = py_action_demo.fibonacci_client:main',
],
},
)
src/py_action_demo/test/conftest.py
+39
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@@ -0,0 +1,39 @@
"""pytest 共享 fixtures - py_action_demo 测试。"""
from typing import Iterator
import pytest
import rclpy
from py_action_demo.fibonacci_server import FibonacciActionServer
from py_action_demo.fibonacci_client import FibonacciActionClient
@pytest.fixture(scope='session')
def ros_context() -> Iterator[None]:
"""session 级 rclpy 上下文。"""
rclpy.init()
try:
yield
finally:
if rclpy.ok():
rclpy.shutdown()
@pytest.fixture
def action_server(ros_context: None) -> Iterator[FibonacciActionServer]:
"""每个测试一个独立 server 实例。"""
node = FibonacciActionServer()
try:
yield node
finally:
node.destroy_node()
@pytest.fixture
def action_client(ros_context: None) -> Iterator[FibonacciActionClient]:
"""每个测试一个独立 client 实例。"""
node = FibonacciActionClient()
try:
yield node
finally:
node.destroy_node()
src/py_action_demo/test/test_action_end_to_end.py
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"""测试 FibonacciActionServer + Client 端到端(同进程)。
策略:
- 同进程 spin server + client(用 MultiThreadedExecutor)
- client.send_goal(5) → 等 _goal_done = True
- 断言 sequence == [0, 1, 1, 2, 3, 5]
关键:不用 launch_testing(避免 shutdown 二次调用问题)。
"""
import time
import threading
import rclpy
import pytest
from rclpy.executors import MultiThreadedExecutor
from py_action_demo.fibonacci_client import FibonacciActionClient
from py_action_demo.fibonacci_server import FibonacciActionServer
@pytest.mark.timeout(15)
def test_fibonacci_end_to_end(ros_context: None) -> None:
"""同进程 server + client 跑 Fibonacci(5) → sequence == [0,1,1,2,3,5]。"""
server = FibonacciActionServer()
client = FibonacciActionClient()
# 用 MultiThreadedExecutor 跑 server(避免 feedback 卡死)
# client 可以用 SingleThreadedExecutor(它主要是被动接收)
executor = MultiThreadedExecutor(num_threads=2)
executor.add_node(server)
executor.add_node(client)
# 后台线程 spin
spin_thread = threading.Thread(
target=executor.spin, daemon=True,
)
spin_thread.start()
# 给一点时间让 server 注册 + discovery
time.sleep(0.5)
# 发 Goal(order=5,期望 sequence=[0,1,1,2,3,5])
assert client.send_goal(5) is True
# 等结果(轮询 _goal_done)
deadline = time.time() + 10.0
while time.time() < deadline and not client._goal_done:
time.sleep(0.1)
executor.shutdown()
server.destroy_node()
client.destroy_node()
assert client._goal_done, 'Goal 未在 10s 内完成'
assert client._result is not None
assert list(client._result.sequence) == [0, 1, 1, 2, 3, 5]
src/py_action_demo/test/test_action_server.py
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"""测试 FibonacciActionServer 节点构造与参数。"""
from py_action_demo.fibonacci_server import FibonacciActionServer
def test_node_name(action_server: FibonacciActionServer) -> None:
"""默认节点名。"""
assert action_server.get_name() == 'fibonacci_action_server'
def test_action_name(action_server: FibonacciActionServer) -> None:
"""默认 action_name 参数。"""
assert action_server.get_parameter('action_name').value == 'fibonacci'
def test_action_server_registered(action_server: FibonacciActionServer) -> None:
"""Action 已注册(可用 ros2 action list 看到)。"""
# 通过 /action_server/get_type_names_and_types 验证
names_types = action_server.get_action_names_and_types()
assert any('fibonacci' in t for _, types in names_types for t in types)
src/py_lifecycle_composable/README.md
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# py_lifecycle_composable
ROS2 Lifecycle Node + Composable Node 演示包(Python)。属于 Level 1 基础机制第 11-12 块。
## 功能
- **`lifecycle_demo_node`**: 标准 Lifecycle Node(unconfigured → inactive → active → finalized)
- **`composable_demo`**: 同进程跑 2 个 Lifecycle 节点(模拟 Composable Container)
## Lifecycle 状态机
```
configure
unconfigured ───────→ inactive
▲ │ │ activate
│ │ cleanup ▼
│ └────────────── active
│ │ deactivate
└──────────────────────┘
shutdown(任何状态都可触发)→ finalized
```
## 关键概念
| 概念 | 用途 |
|---|---|
| `LifecycleNode` | 节点基类,提供 on_configure/on_activate 等回调 |
| `State` / `Transition` | 状态枚举 + 转换枚举 |
| `TransitionCallbackReturn` | SUCCESS / FAILURE / ERROR |
| `create_lifecycle_publisher` | Lifecycle 专用 publisher(只在 active 时有效) |
| `Composable Node` | 同进程多节点(共享内存,降低延迟) |
| `ComposableNodeContainer` | C++ 的组件容器(C++ 专属) |
## 运行
```bash
# 启 Lifecycle 节点
ros2 launch py_lifecycle_composable lifecycle_launch.py
# 查看所有 lifecycle service
ros2 service list | grep lifecycle
# /lifecycle_demo_node/change_state
# /lifecycle_demo_node/get_state
# 查看当前状态
ros2 service call /lifecycle_demo_node/get_state lifecycle_msgs/srv/GetState
# 触发 configure
ros2 service call /lifecycle_demo_node/change_state lifecycle_msgs/srv/ChangeState \
"{transition: {id: 1}}" # 1 = configure
# 触发 activate
ros2 service call /lifecycle_demo_node/change_state lifecycle_msgs/srv/ChangeState \
"{transition: {id: 3}}" # 3 = activate
# 启 composable demo
ros2 run py_lifecycle_composable composable_demo
```
## 测试
```bash
colcon test --packages-select py_lifecycle_composable
```
测试覆盖:
| 文件 | 用例数 | 内容 |
|---|---|---|
| `test_lifecycle.py` | 5 | 初始状态 / configure / activate / deactivate / 全循环 |
| `test_composable.py` | 1 | 同进程 2 节点全 active |
| **总计** | **6** | **目标 6/6 100% 通过** |
## 深度学习
- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md)
- Lifecycle:[`doc/17-lifecycle.md`](../doc/17-lifecycle.md)
- Composable:[`doc/18-composable.md`](../doc/18-composable.md)
src/py_lifecycle_composable/launch/lifecycle_launch.py
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"""lifecycle_launch.py - 启动 lifecycle_demo_node。"""
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:LifecycleDemoNode。"""
return LaunchDescription([
Node(
package='py_lifecycle_composable',
executable='lifecycle_demo_node',
name='lifecycle_demo_node',
output='screen',
),
])
src/py_lifecycle_composable/package.xml
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<?xml version="1.0"?>
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>py_lifecycle_composable</name>
<version>0.1.0</version>
<description>
ROS2 Lifecycle Node + Composable Node 演示包(Python)。
演示 LifecycleDemoNode(状态机) + Composable Demo(同进程多节点)。
属于 Level 1 基础机制第 11-12 块。
</description>
<maintainer email="dev@example.com">xs</maintainer>
<license>MIT</license>
<depend>rclpy</depend>
<depend>std_msgs</depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>
src/py_lifecycle_composable/py_lifecycle_composable/__init__.py
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"""py_lifecycle_composable - ROS2 生命周期 + 组合节点演示包。
属于 Level 1 基础机制第 11 块(Lifecycle Node)+ 第 12 块(Composable Node)。
演示内容:
- LifecycleDemoNode:标准 Lifecycle Node(unconfigured → inactive → active → finalized)
- LifecycleClient:用 service 控制 lifecycle(change_state / get_state)
- ComposableNodeDemo:演示 Composable Container 概念(同进程多节点)
参考:
- Lifecycle 设计稿 https://design.ros2.org/articles/node_lifecycle.html
- Composition 文档 https://docs.ros2.org/en/humble/Concepts/About-Composition.html
- 编程规范 doc/CODING_STYLE.md
- 深度文档 doc/17-lifecycle.md + doc/18-composable.md
"""
src/py_lifecycle_composable/py_lifecycle_composable/composable_demo.py
+72
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"""composable_demo - 演示 Composable Node 概念。
设计思想:
Composable Node 把多个节点装到一个进程(共享内存,减少 DDS 通信)。
ROS2 Composable 必须用 C++ 实现(.so 库),Python 仅作为概念演示。
这里:
- 演示如何"逻辑上把多个节点合并到同一进程"的概念
- 用多个 LifecycleDemoNode 实例模拟组合行为
- 用同一 MultiThreadedExecutor 跑多个节点
参考:
- https://docs.ros2.org/en/humble/Concepts/About-Composition.html
"""
import threading
import time
from typing import List, Optional
import rclpy
from rclpy.executors import MultiThreadedExecutor
from rclpy.lifecycle import LifecycleNode, State, TransitionCallbackReturn
from py_lifecycle_composable.lifecycle_node import LifecycleDemoNode
def run_composable_demo() -> None:
"""演示:同进程跑 2 个 Lifecycle 节点(模拟 Composable Node)。"""
rclpy.init()
# 创建 2 个 lifecycle 节点 + 1 个普通节点(模拟 Composable Container)
node_a = LifecycleDemoNode(node_name='composed_node_a')
node_b = LifecycleDemoNode(node_name='composed_node_b')
executor = MultiThreadedExecutor(num_threads=4)
executor.add_node(node_a)
executor.add_node(node_b)
# 让两个节点都进入 active 状态(模拟 container 的 configure + activate)
time.sleep(0.5)
from rclpy.lifecycle import Transition
for node in [node_a, node_b]:
node.trigger_transition(Transition.TRANSITION_CONFIGURE)
time.sleep(0.1)
node.trigger_transition(Transition.TRANSITION_ACTIVATE)
time.sleep(0.1)
# 后台 spin
spin_thread = threading.Thread(target=executor.spin, daemon=True)
spin_thread.start()
time.sleep(2.0)
# 退出:deactivate + cleanup
for node in [node_a, node_b]:
node.trigger_transition(Transition.TRANSITION_DEACTIVATE)
node.trigger_transition(Transition.TRANSITION_CLEANUP)
executor.shutdown()
node_a.destroy_node()
node_b.destroy_node()
if rclpy.ok():
rclpy.shutdown()
def main(args: Optional[List[str]] = None) -> None:
"""Composable Node demo 入口。"""
run_composable_demo()
if __name__ == '__main__':
main()
src/py_lifecycle_composable/py_lifecycle_composable/lifecycle_node.py
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"""lifecycle_node - 标准 Lifecycle Node 演示。
设计思想:
Lifecycle Node 有 4 个主要状态:
unconfigured → inactive → active → finalized
(可触发 cleanup/shutdown 回到 inactive)
每个状态切换通过外部 service 调用触发:
- /<node>/change_state → transition
- /<node>/get_state → current_state
转换由 on_configure / on_activate / on_deactivate / on_cleanup / on_shutdown
回调处理,可在回调里分配/释放资源(连接硬件、加载模型等)。
参考:
- https://design.ros2.org/articles/node_lifecycle.html
"""
from typing import List, Optional
import rclpy
from rclpy.lifecycle import LifecycleNode, State, TransitionCallbackReturn
from rclpy.lifecycle.publisher import LifecyclePublisher
from std_msgs.msg import String
class LifecycleDemoNode(LifecycleNode):
"""演示 Lifecycle 节点。
Attributes:
_publisher: LifecyclePublisher(只在 active 时有效)。
_publish_count: 已发布消息数。
"""
DEFAULT_TOPIC: str = 'lifecycle_chatter'
DEFAULT_RATE_HZ: float = 1.0
def __init__(self, *, node_name: str = 'lifecycle_demo_node') -> None:
"""初始化 Lifecycle 节点(注意:super() 用 LifecycleNode)。
Args:
node_name: ROS2 节点名。
"""
super().__init__(node_name)
self.declare_parameter(
'topic_name', self.DEFAULT_TOPIC,
descriptor='发布话题名',
)
self.declare_parameter(
'publish_rate_hz', self.DEFAULT_RATE_HZ,
descriptor='发布频率 (Hz)',
)
self._publisher: Optional[LifecyclePublisher] = None
self._publish_count: int = 0
self._timer = None
self.get_logger().info('lifecycle_demo_node created (state=unconfigured)')
# ----- Lifecycle 回调(必须重写) -----
def on_configure(self, state: State) -> TransitionCallbackReturn:
"""configure 转换:分配资源(创建 publisher)。
Args:
state: 当前状态(应为 unconfigured)。
Returns:
TransitionCallbackReturn.SUCCESS 或 FAILURE。
"""
try:
topic_name: str = self.get_parameter('topic_name').value
self._publisher = self.create_lifecycle_publisher(
String, topic_name, 10,
)
self.get_logger().info('on_configure: publisher created')
return TransitionCallbackReturn.SUCCESS
except Exception as exc: # noqa: BLE001
self.get_logger().error(f'on_configure failed: {exc}', exc_info=True)
return TransitionCallbackReturn.FAILURE
def on_activate(self, state: State) -> TransitionCallbackReturn:
"""activate 转换:启动定时器。
Args:
state: 当前状态(应为 inactive)。
Returns:
TransitionCallbackReturn.SUCCESS。
"""
try:
publish_rate_hz: float = self.get_parameter('publish_rate_hz').value
period: float = 1.0 / publish_rate_hz if publish_rate_hz > 0 else 1.0
self._timer = self.create_timer(period, self._publish_message)
self.get_logger().info('on_activate: timer started')
return super().on_activate(state)
except Exception as exc: # noqa: BLE001
self.get_logger().error(f'on_activate failed: {exc}', exc_info=True)
return TransitionCallbackReturn.FAILURE
def on_deactivate(self, state: State) -> TransitionCallbackReturn:
"""deactivate 转换:停止定时器。
Args:
state: 当前状态(应为 active)。
Returns:
TransitionCallbackReturn.SUCCESS。
"""
try:
if self._timer is not None:
self.destroy_timer(self._timer)
self._timer = None
self.get_logger().info('on_deactivate: timer stopped')
return super().on_deactivate(state)
except Exception as exc: # noqa: BLE001
self.get_logger().error(f'on_deactivate failed: {exc}', exc_info=True)
return TransitionCallbackReturn.FAILURE
def on_cleanup(self, state: State) -> TransitionCallbackReturn:
"""cleanup 转换:释放资源(销毁 publisher)。
Args:
state: 当前状态(应为 inactive)。
Returns:
TransitionCallbackReturn.SUCCESS。
"""
try:
if self._publisher is not None:
self.destroy_lifecycle_publisher(self._publisher)
self._publisher = None
self.get_logger().info('on_cleanup: publisher destroyed')
return TransitionCallbackReturn.SUCCESS
except Exception as exc: # noqa: BLE001
self.get_logger().error(f'on_cleanup failed: {exc}', exc_info=True)
return TransitionCallbackReturn.FAILURE
def on_shutdown(self, state: State) -> TransitionCallbackReturn:
"""shutdown 转换:清理所有资源。
Args:
state: 当前状态。
Returns:
TransitionCallbackReturn.SUCCESS。
"""
try:
self.on_cleanup(state)
self.get_logger().info('on_shutdown: node shutting down')
return TransitionCallbackReturn.SUCCESS
except Exception as exc: # noqa: BLE001
self.get_logger().error(f'on_shutdown failed: {exc}', exc_info=True)
return TransitionCallbackReturn.FAILURE
# ----- 业务回调(只在 active 时被调用) -----
def _publish_message(self) -> None:
"""定时器:发布消息(只在 active 状态时有效)。"""
try:
if self._publisher is None:
return
msg = String()
msg.data = f'Lifecycle msg #{self._publish_count}'
self._publisher.publish(msg)
self._publish_count += 1
except Exception as exc: # noqa: BLE001
self.get_logger().error(
f'publish failed: {exc}', exc_info=True,
)
def main(args: Optional[List[str]] = None) -> None:
"""ROS2 Lifecycle 节点入口。"""
rclpy.init(args=args)
node: Optional[LifecycleDemoNode] = None
try:
node = LifecycleDemoNode()
rclpy.spin(node)
except KeyboardInterrupt:
if node is not None:
node.get_logger().info('KeyboardInterrupt → 退出')
finally:
if rclpy.ok():
rclpy.shutdown()
if __name__ == '__main__':
main()
src/py_lifecycle_composable/setup.py
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import os
from glob import glob
from setuptools import setup
PACKAGE_NAME = 'py_lifecycle_composable'
setup(
name=PACKAGE_NAME,
version='0.1.0',
packages=[PACKAGE_NAME],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + PACKAGE_NAME]),
('share/' + PACKAGE_NAME, ['package.xml']),
(os.path.join('share', PACKAGE_NAME, 'launch'), glob('launch/*.py')),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='xs',
maintainer_email='dev@example.com',
description='ROS2 Lifecycle + Composable Node 演示 - Level 1 基础机制第 11-12 块',
license='MIT',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'lifecycle_demo_node = py_lifecycle_composable.lifecycle_node:main',
'composable_demo = py_lifecycle_composable.composable_demo:main',
],
},
)
src/py_lifecycle_composable/test/conftest.py
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"""pytest 共享 fixtures - py_lifecycle_composable 测试。"""
from typing import Iterator
import pytest
import rclpy
from py_lifecycle_composable.lifecycle_node import LifecycleDemoNode
@pytest.fixture(scope='session')
def ros_context() -> Iterator[None]:
"""session 级 rclpy 上下文。"""
rclpy.init()
try:
yield
finally:
if rclpy.ok():
rclpy.shutdown()
@pytest.fixture
def lifecycle_node(ros_context: None) -> Iterator[LifecycleDemoNode]:
"""每个测试一个独立 Lifecycle 节点实例。"""
node = LifecycleDemoNode()
try:
yield node
finally:
node.destroy_node()
src/py_lifecycle_composable/test/test_composable.py
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"""测试 Composable Node demo(同进程跑 2 个 Lifecycle 节点)。"""
import time
import rclpy
import threading
from rclpy.executors import MultiThreadedExecutor
from rclpy.lifecycle import LifecycleState, Transition
from py_lifecycle_composable.lifecycle_node import LifecycleDemoNode
def test_two_nodes_same_process(ros_context: None) -> None:
"""同进程跑 2 个 Lifecycle 节点(模拟 Composable Container)。"""
node_a = LifecycleDemoNode(node_name='test_node_a')
node_b = LifecycleDemoNode(node_name='test_node_b')
executor = MultiThreadedExecutor(num_threads=2)
executor.add_node(node_a)
executor.add_node(node_b)
spin_thread = threading.Thread(target=executor.spin, daemon=True)
spin_thread.start()
# 等 0.5s 后让两节点都 active
time.sleep(0.5)
for n in [node_a, node_b]:
n.trigger_transition(Transition.TRANSITION_CONFIGURE)
time.sleep(0.1)
n.trigger_transition(Transition.TRANSITION_ACTIVATE)
time.sleep(0.1)
assert node_a.get_current_state().id == LifecycleState.active
assert node_b.get_current_state().id == LifecycleState.active
# 退出清理
for n in [node_a, node_b]:
n.trigger_transition(Transition.TRANSITION_DEACTIVATE)
n.trigger_transition(Transition.TRANSITION_CLEANUP)
executor.shutdown()
node_a.destroy_node()
node_b.destroy_node()
src/py_lifecycle_composable/test/test_lifecycle.py
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"""测试 LifecycleDemoNode 状态机。"""
import time
import rclpy
from rclpy.lifecycle import LifecycleState, Transition
from py_lifecycle_composable.lifecycle_node import LifecycleDemoNode
def test_initial_state_unconfigured(lifecycle_node: LifecycleDemoNode) -> None:
"""初始状态应为 unconfigured。"""
assert lifecycle_node.get_current_state().id == LifecycleState.unconfigured
def test_configure_creates_publisher(lifecycle_node: LifecycleDemoNode) -> None:
"""configure 后 publisher 应创建。"""
lifecycle_node.trigger_transition(Transition.TRANSITION_CONFIGURE)
time.sleep(0.1)
assert lifecycle_node.get_current_state().id == LifecycleState.inactive
assert lifecycle_node._publisher is not None
def test_activate_starts_timer(lifecycle_node: LifecycleDemoNode) -> None:
"""activate 后 timer 应启动。"""
lifecycle_node.trigger_transition(Transition.TRANSITION_CONFIGURE)
time.sleep(0.05)
lifecycle_node.trigger_transition(Transition.TRANSITION_ACTIVATE)
time.sleep(0.1)
assert lifecycle_node.get_current_state().id == LifecycleState.active
assert lifecycle_node._timer is not None
def test_deactivate_stops_timer(lifecycle_node: LifecycleDemoNode) -> None:
"""deactivate 后 timer 应停止。"""
lifecycle_node.trigger_transition(Transition.TRANSITION_CONFIGURE)
lifecycle_node.trigger_transition(Transition.TRANSITION_ACTIVATE)
time.sleep(0.05)
lifecycle_node.trigger_transition(Transition.TRANSITION_DEACTIVATE)
time.sleep(0.1)
assert lifecycle_node.get_current_state().id == LifecycleState.inactive
assert lifecycle_node._timer is None
def test_full_cycle(lifecycle_node: LifecycleDemoNode) -> None:
"""完整生命周期:configure → activate → deactivate → cleanup。"""
lifecycle_node.trigger_transition(Transition.TRANSITION_CONFIGURE)
assert lifecycle_node.get_current_state().id == LifecycleState.inactive
lifecycle_node.trigger_transition(Transition.TRANSITION_ACTIVATE)
assert lifecycle_node.get_current_state().id == LifecycleState.active
lifecycle_node.trigger_transition(Transition.TRANSITION_DEACTIVATE)
assert lifecycle_node.get_current_state().id == LifecycleState.inactive
lifecycle_node.trigger_transition(Transition.TRANSITION_CLEANUP)
assert lifecycle_node.get_current_state().id == LifecycleState.unconfigured
src/py_overlay_dds/README.md
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# py_overlay_dds
ROS2 DDS 配置 + colcon overlay 演示包(Python)。属于 Level 1 基础机制第 14-15 块。
## 功能
- **`dds_inspector`**: 启动时读 DDS/RMW 环境变量,周期性打印当前配置
## 关键概念
| 概念 | 用途 |
|---|---|
| `ROS_DOMAIN_ID` | DDS 域 ID(0-232),同 ID 才能互通 |
| `RMW_IMPLEMENTATION` | RMW 实现选择(默认 `rmw_fastrtps_cpp`) |
| `ROS_STATIC_PEERS` | 跨网段单播发现节点列表 |
| `ROS_DISCOVERY_SERVER` | 集中式发现服务地址 |
| `ROS_LOCALHOST_ONLY` | 仅本机(0/1) |
| `colcon overlay` | 多个 colcon 工作空间叠加(本仓库位于主工作空间) |
| `CYCLONE_DDS_URI` | Cyclone DDS XML 配置 URI |
## colcon overlay 工作流
```bash
# 主工作空间(base)
colcon build --packages-select py_pubsub cpp_pubsub ...
source install/setup.bash
# 增量工作空间(overlay)
mkdir -p ~/ros2_overlay_ws/src
cd ~/ros2_overlay_ws/src
# git clone 自己修改的包,或链接主工作空间的 src
ln -s /path/to/main_ws/src/py_pubsub .
colcon build --packages-select py_pubsub # 只 build 修改的包
source install/setup.bash # 自动叠加在 base 之上
```
## 运行
```bash
# 启 DDS inspector
ros2 launch py_overlay_dds overlay_launch.py
# 设置不同 domain 测试
ROS_DOMAIN_ID=42 ros2 launch py_overlay_dds overlay_launch.py
# 跨网段配置(单播)
ROS_STATIC_PEERS="192.168.1.20;192.168.1.21" ros2 launch py_overlay_dds overlay_launch.py
```
## 测试
```bash
colcon test --packages-select py_overlay_dds
```
测试覆盖:
| 文件 | 用例数 | 内容 |
|---|---|---|
| `test_dds_inspector.py` | 6 | 节点名 / 参数 / domain_id / inspect 计数 |
| **总计** | **6** | **目标 6/6 100% 通过** |
## 深度学习
- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md)
- DDS / Overlay:[`doc/21-overlay-dds.md`](../doc/21-overlay-dds.md)
- 三机部署:[`doc/100-embedded-deployment.md`](../doc/100-embedded-deployment.md)
src/py_overlay_dds/launch/overlay_launch.py
+15
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@@ -0,0 +1,15 @@
"""overlay_launch.py - 启动 dds_inspector。"""
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:DdsInspectorNode。"""
return LaunchDescription([
Node(
package='py_overlay_dds',
executable='dds_inspector',
name='dds_inspector',
output='screen',
),
])
src/py_overlay_dds/package.xml
+26
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@@ -0,0 +1,26 @@
<?xml version="1.0"?>
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>py_overlay_dds</name>
<version>0.1.0</version>
<description>
ROS2 DDS 配置 + colcon overlay 演示包(Python)。
演示 DdsInspectorNode(读 ROS_DOMAIN_ID / RMW_IMPLEMENTATION 等环境变量)。
属于 Level 1 基础机制第 14-15 块。
</description>
<maintainer email="dev@example.com">xs</maintainer>
<license>MIT</license>
<depend>rclpy</depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>
src/py_overlay_dds/py_overlay_dds/__init__.py
+18
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@@ -0,0 +1,18 @@
"""py_overlay_dds - ROS2 DDS 配置 + colcon overlay 演示包。
属于 Level 1 基础机制第 14-15 块:
- colcon overlay(混合工作空间)
- DDS / RMW 配置(domain ID / static peers)
演示内容:
- DdsInspectorNode:启动时读取 ROS_DOMAIN_ID / RMW_IMPLEMENTATION / ROS_STATIC_PEERS
并周期性打印,验证环境配置正确
- 提供 ROS_DOMAIN_ID 测试 fixture(单元测试可临时修改)
参考:
- DDS 规范 https://www.omg.org/spec/DDS/1.4/
- FastDDS 配置 https://fast-dds.docs.eprosima.com/
- Cyclone DDS 配置 https://cyclonedds.io/docs/
- 编程规范 doc/CODING_STYLE.md
- 深度文档 doc/21-overlay-dds.md
"""
src/py_overlay_dds/py_overlay_dds/dds_inspector_node.py
+117
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@@ -0,0 +1,117 @@
"""dds_inspector_node - 检查 DDS / RMW 环境配置。
设计思想:
跨机器部署时,必须正确配置 DDS,否则节点看不见对方。
本节点启动时读关键环境变量并打印:
- ROS_DOMAIN_ID(0-232,默认 0)
- RMW_IMPLEMENTATION(默认 rmw_fastrtps_cpp)
- ROS_STATIC_PEERS(跨网段单播发现)
- ROS_DISCOVERY_SERVER(集中发现服务)
- CYCLONE_DDS_URI(Cyclone DDS 配置)
参考:
- https://docs.ros.org/en/humble/Concepts/About-DDS-Implementations.html
"""
import os
from typing import List, Optional
import rclpy
from rclpy.node import Node
class DdsInspectorNode(Node):
"""检查 DDS / RMW 环境配置。
Attributes:
_inspect_count: 已检查次数。
"""
DEFAULT_RATE_HZ: float = 0.5 # 每 2 秒检查一次
def __init__(self, *, node_name: str = 'dds_inspector') -> None:
"""初始化 DDS 检查节点。
Args:
node_name: ROS2 节点名,默认 `dds_inspector`。
"""
super().__init__(node_name)
self.declare_parameter(
'inspect_rate_hz', self.DEFAULT_RATE_HZ,
descriptor='检查频率 (Hz)',
)
rate: float = self.get_parameter('inspect_rate_hz').value
period: float = 1.0 / rate if rate > 0 else 2.0
self._timer = self.create_timer(period, self._inspect_dds)
self._inspect_count: int = 0
self.get_logger().info('dds_inspector started')
def _inspect_dds(self) -> None:
"""读关键环境变量 + 打印当前 DDS 配置。
关键变量:
- ROS_DOMAIN_ID (int, 0-232)
- RMW_IMPLEMENTATION (string, 默认 rmw_fastrtps_cpp)
- ROS_STATIC_PEERS (string, 跨网段单播发现)
- ROS_DISCOVERY_SERVER (string, 集中发现)
- ROS_LOCALHOST_ONLY (int, 0/1, 仅本机通信)
"""
try:
domain_id: str = os.environ.get('ROS_DOMAIN_ID', '0')
rmw_impl: str = os.environ.get(
'RMW_IMPLEMENTATION', 'rmw_fastrtps_cpp',
)
static_peers: str = os.environ.get('ROS_STATIC_PEERS', '<unset>')
discovery_server: str = os.environ.get(
'ROS_DISCOVERY_SERVER', '<unset>',
)
localhost_only: str = os.environ.get('ROS_LOCALHOST_ONLY', '0')
self._inspect_count += 1
# 每 4 次打一次完整信息(避免日志刷屏)
if self._inspect_count % 4 == 1:
self.get_logger().info(
f'DDS Config: '
f'ROS_DOMAIN_ID={domain_id}, '
f'RMW={rmw_impl}, '
f'LOCALHOST_ONLY={localhost_only}',
)
if static_peers != '<unset>':
self.get_logger().info(f'ROS_STATIC_PEERS={static_peers}')
if discovery_server != '<unset>':
self.get_logger().info(
f'ROS_DISCOVERY_SERVER={discovery_server}',
)
# 节点自己的 domain(从 ROS_DOMAIN_ID 来)
current_domain: int = self.get_domain_id()
self.get_logger().debug(
f'inspect #{self._inspect_count}: domain={current_domain}',
)
except Exception as exc: # noqa: BLE001
self.get_logger().error(
f'inspect_dds failed: {exc}', exc_info=True,
)
def main(args: Optional[List[str]] = None) -> None:
"""ROS2 节点入口。"""
rclpy.init(args=args)
node: Optional[DdsInspectorNode] = None
try:
node = DdsInspectorNode()
rclpy.spin(node)
except KeyboardInterrupt:
if node is not None:
node.get_logger().info('KeyboardInterrupt → 退出')
finally:
if rclpy.ok():
rclpy.shutdown()
if __name__ == '__main__':
main()
src/py_overlay_dds/setup.py
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@@ -0,0 +1,30 @@
import os
from glob import glob
from setuptools import setup
PACKAGE_NAME = 'py_overlay_dds'
setup(
name=PACKAGE_NAME,
version='0.1.0',
packages=[PACKAGE_NAME],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + PACKAGE_NAME]),
('share/' + PACKAGE_NAME, ['package.xml']),
(os.path.join('share', PACKAGE_NAME, 'launch'), glob('launch/*.py')),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='xs',
maintainer_email='dev@example.com',
description='ROS2 DDS 配置 + colcon overlay 演示 - Level 1 基础机制第 14-15 块',
license='MIT',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'dds_inspector = py_overlay_dds.dds_inspector_node:main',
],
},
)
src/py_overlay_dds/test/conftest.py
+29
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@@ -0,0 +1,29 @@
"""pytest 共享 fixtures - py_overlay_dds 测试。"""
import os
from typing import Iterator
import pytest
import rclpy
from py_overlay_dds.dds_inspector_node import DdsInspectorNode
@pytest.fixture(scope='session')
def ros_context() -> Iterator[None]:
"""session 级 rclpy 上下文。"""
rclpy.init()
try:
yield
finally:
if rclpy.ok():
rclpy.shutdown()
@pytest.fixture
def dds_inspector(ros_context: None) -> Iterator[DdsInspectorNode]:
"""每个测试一个独立节点实例。"""
node = DdsInspectorNode()
try:
yield node
finally:
node.destroy_node()
src/py_overlay_dds/test/test_dds_inspector.py
+41
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@@ -0,0 +1,41 @@
"""测试 DdsInspectorNode 节点构造与环境变量读取。"""
import os
from py_overlay_dds.dds_inspector_node import DdsInspectorNode
def test_default_node_name(dds_inspector: DdsInspectorNode) -> None:
"""默认节点名。"""
assert dds_inspector.get_name() == 'dds_inspector'
def test_default_inspect_rate(dds_inspector: DdsInspectorNode) -> None:
"""默认 inspect_rate_hz == 0.5(每 2 秒一次)。"""
assert dds_inspector.get_parameter('inspect_rate_hz').value == 0.5
def test_timer_created(dds_inspector: DdsInspectorNode) -> None:
"""定时器已创建。"""
assert len(dds_inspector.timers) >= 1
def test_default_domain_id_is_zero(dds_inspector: DdsInspectorNode) -> None:
"""默认 ROS_DOMAIN_ID == 0(本测试环境下没设)。"""
# 注:rclpy 启动时会读 ROS_DOMAIN_ID 环境变量
# 如果测试环境设了,这里会是那个值
domain_id = dds_inspector.get_domain_id()
assert isinstance(domain_id, int)
assert 0 <= domain_id <= 232
def test_inspect_dds_runs(dds_inspector: DdsInspectorNode) -> None:
"""_inspect_dds 调用不抛异常。"""
dds_inspector._inspect_dds()
assert dds_inspector._inspect_count == 1
def test_inspect_multiple_times(dds_inspector: DdsInspectorNode) -> None:
"""多次调用 _inspect_dds 计数累加。"""
for _ in range(5):
dds_inspector._inspect_dds()
assert dds_inspector._inspect_count == 5
src/py_params/README.md
+60
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@@ -0,0 +1,60 @@
# py_params
ROS2 参数系统演示包(Python)。属于 Level 1 基础机制第 8 块。
## 功能
- **`params_talker`**: 声明 / 读取 / 设置 / 校验回调四大操作 + YAML 加载
## 关键概念
| 概念 | 用途 |
|---|---|
| `declare_parameter` | 类型推断 + 描述符 |
| `get_parameter` | 读取 Parameter 对象(.name/.value/.type) |
| `set_parameters` | 同步修改 + 校验回调 |
| `set_parameters_atomically` | 原子修改,全成功或全失败 |
| `add_on_set_parameters_callback` | 注册参数变化回调链 |
| `ros2 param describe / list / set / dump / load` | CLI 工具 |
## 运行
```bash
# 默认参数启动
ros2 run py_params params_talker
# YAML 加载(覆盖默认)
ros2 launch py_params params_launch.py
# CLI 修改
ros2 param set /params_talker publish_rate_hz 5.0
ros2 param set /params_talker message_prefix 'Hello:'
# 查询
ros2 param list /params_talker
ros2 param describe /params_talker publish_rate_hz
# 导出 / 导入
ros2 param dump /params_talker > saved.yaml
ros2 param load /params_talker saved.yaml
```
## 测试
```bash
colcon test --packages-select py_params
```
测试覆盖:
| 文件 | 用例数 | 内容 |
|---|---|---|
| `test_param_declaration.py` | 7 | 默认值 + publisher + timer + 缓存 |
| `test_param_callback.py` | 6 | 合法 set + 非法拒绝 + 缓存同步 + 原子性 |
| `test_param_yaml.py` | 3 | YAML 存在 + 格式 + 键匹配 |
| **总计** | **16** | **目标 16/16 100% 通过** |
## 深度学习
- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md)
- 参数深度:[`doc/15-params.md`](../doc/15-params.md)
src/py_params/config/params.yaml
+8
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@@ -0,0 +1,8 @@
# py_params 默认参数配置
# 由 ros2 launch params_launch.py 加载
# 格式: <node_name>: ros__parameters: <key>: <value>
params_talker:
ros__parameters:
publish_rate_hz: 2.0
topic_name: "params_chatter"
message_prefix: "Configured:"
src/py_params/launch/params_launch.py
+24
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@@ -0,0 +1,24 @@
"""params_launch.py - 启动 params_talker,加载 YAML 配置。"""
from launch import LaunchDescription
from launch.substitutions import PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description() -> LaunchDescription:
"""生成启动描述:ParamsTalker + YAML 配置加载。"""
config_file = PathJoinSubstitution([
FindPackageShare('py_params'),
'config',
'params.yaml',
])
return LaunchDescription([
Node(
package='py_params',
executable='params_talker',
name='params_talker',
output='screen',
parameters=[config_file],
),
])
src/py_params/package.xml
+28
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@@ -0,0 +1,28 @@
<?xml version="1.0"?>
<?xml-model
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>py_params</name>
<version>0.1.0</version>
<description>
ROS2 参数系统演示包(Python)。
演示 ParamsTalker:声明 + 读取 + 设置 + 校验回调 + YAML 加载。
属于 Level 1 基础机制第 8 块。
</description>
<maintainer email="dev@example.com">xs</maintainer>
<license>MIT</license>
<depend>rclpy</depend>
<depend>std_msgs</depend>
<depend>rcl_interfaces</depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

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