feat(level1): ROS2 完全体 12 包 / 80 测试 / 23 文档 / 工程化 / Docker 分组
This commit is contained in:
xs
@@ -1,5 +1,17 @@
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# CMakeLists.txt - cpp_pubsub 包构建配置
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#
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# 设计思想:
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# - 显式声明每个依赖(不靠 ros2_defaults 的隐式传递)
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# - 启用 -Wall -Wextra -Wpedantic(严格编译警告)
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# - 库 + 可执行文件分离(便于测试只链接库)
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# - 测试用 ament_add_gtest(集成 colcon test)
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#
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# 参考:
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# - ament_cmake 用户指南: https://docs.ros.org/en/humble/Concepts/About-Build-System.html
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# - ROS2 C++ Style: https://docs.ros.org/en/humble/Contributing/Code-Style-Language-Versions.html
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cmake_minimum_required(VERSION 3.16)
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project(cpp_pubsub VERSION 0.1.0)
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project(cpp_pubsub LANGUAGES CXX)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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@@ -9,36 +21,39 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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rclcpp
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std_msgs
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)
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include_directories(include)
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# 库:含 ChatterPublisher / ChatterSubscriber 实现
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add_library(${PROJECT_NAME}_core SHARED
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src/chatter_publisher.cpp
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src/chatter_subscriber.cpp
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)
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target_include_directories(${PROJECT_NAME}_core PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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)
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ament_target_dependencies(${PROJECT_NAME}_core ${THIS_PACKAGE_INCLUDE_DEPENDS})
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add_executable(talker src/publisher_member_function.cpp)
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ament_target_dependencies(talker rclcpp std_msgs)
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# 可执行文件:两个独立 main(每个节点独立可执行)
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add_executable(chatter_publisher_cpp src/chatter_publisher.cpp)
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target_link_libraries(chatter_publisher_cpp ${PROJECT_NAME}_core)
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add_executable(listener src/subscriber_member_function.cpp)
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ament_target_dependencies(listener rclcpp std_msgs)
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add_executable(chatter_subscriber_cpp src/chatter_subscriber.cpp)
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target_link_libraries(chatter_subscriber_cpp ${PROJECT_NAME}_core)
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# 安装:可执行 + 库 + launch
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install(TARGETS
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talker
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listener
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chatter_publisher_cpp
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chatter_subscriber_cpp
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${PROJECT_NAME}_core
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}/
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DESTINATION share/${PROJECT_NAME}
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)
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# ------------------------------------------------------------------
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# 测试:ament_cmake_gtest 集成 gtest,
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# colcon test --packages-select cpp_pubsub 时自动跑 test_pub_sub。
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# ------------------------------------------------------------------
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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ament_add_gtest(test_pub_sub test/test_pub_sub.cpp)
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ament_target_dependencies(test_pub_sub rclcpp std_msgs)
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endif()
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ament_package()
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@@ -0,0 +1,54 @@
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# cpp_pubsub
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ROS2 Topic pub/sub 演示包 (C++)。属于 Level 1 基础机制第 1-2 块。
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## 功能
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- **`chatter_publisher_cpp`**: 周期性发布 `std_msgs/String` 到 `/chatter`
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- **`chatter_subscriber_cpp`**: 订阅 `/chatter`,打印消息
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与 [`py_pubsub`](../py_pubsub/) 配合,演示 Python ↔ C++ 跨语言互通。
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## C++ 节点类(库)
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`cpp_pubsub_core` 共享库包含:
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- `cpp_pubsub::ChatterPublisher` — `rclcpp::Node` 派生
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- `cpp_pubsub::ChatterSubscriber` — `rclcpp::Node` 派生
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均位于 `namespace cpp_pubsub`,便于复用与测试。
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## 运行
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```bash
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# 单独启动
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ros2 run cpp_pubsub chatter_publisher_cpp
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ros2 run cpp_pubsub chatter_subscriber_cpp
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# launch
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ros2 launch cpp_pubsub pubsub_launch.py
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# 实时观察
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ros2 topic info /chatter -v
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ros2 topic echo /chatter
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```
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## 测试
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```bash
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colcon test --packages-select cpp_pubsub
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```
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测试覆盖(在 `test/test_pub_sub.cpp`):
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| 用例 | 内容 |
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|---|---|
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| `PublisherConstructsWithDefaults` | 节点名 + 默认参数正确 |
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| `SubscriberConstructsWithDefaults` | 节点名 + 默认参数正确 |
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| `PublisherSpinSomeWorks` | spin_some 1s 不崩溃 |
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## 深度学习
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- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md) §3
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- Topic 深度:[`doc/20-topics.md`](../doc/20-topics.md)
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- C++ Style: [ROS2 C++ Style Guide](https://docs.ros.org/en/humble/Contributing/Code-Style-Language-Versions.html)
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@@ -0,0 +1,40 @@
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// chatter_publisher.hpp - C++ ChatterPublisher 节点头文件
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//
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// 设计思想:
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// - 显式构造函数 + NodeOptions(便于测试和覆盖参数)
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// - const-correct(读参数 / 回调标 const 友好)
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// - override 标注(虚函数)
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// - Smart pointers(SharedPtr/UniquePtr)
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// - 命名空间包裹(防全局污染)
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//
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// 参考:
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// - ROS2 Humble Tutorial https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html
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// - ROS2 C++ Style https://docs.ros.org/en/humble/Contributing/Code-Style-Language-Versions.html
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#pragma once
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#include <chrono>
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#include <cstddef>
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#include <memory>
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#include <string>
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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namespace cpp_pubsub
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{
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class ChatterPublisher : public rclcpp::Node
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{
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public:
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explicit ChatterPublisher(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
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private:
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void timer_callback();
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rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
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rclcpp::TimerBase::SharedPtr timer_;
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std::size_t publish_count_;
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};
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} // namespace cpp_pubsub
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@@ -0,0 +1,26 @@
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// chatter_subscriber.hpp - C++ ChatterSubscriber 节点头文件
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#pragma once
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#include <cstddef>
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#include <memory>
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#include <string>
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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namespace cpp_pubsub
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{
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class ChatterSubscriber : public rclcpp::Node
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{
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public:
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explicit ChatterSubscriber(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
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private:
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void message_callback(const std_msgs::msg::String::SharedPtr msg);
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rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
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std::size_t received_count_;
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};
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} // namespace cpp_pubsub
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@@ -1,68 +1,41 @@
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"""pubsub_launch.py - 启动 cpp chatter_publisher + chatter_subscriber。
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设计思想:
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- C++ 节点 executable 与 Python 不同(带 _cpp 后缀区分)
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- 节点名带 _cpp 后缀与 _py 区分,跨语言互通时可识别来源
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"""
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pubsub_launch.py —— 启动 talker_cpp + listener_cpp,演示 launch 命令行参数。
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与 py_pubsub 的同名 launch 文件对照学习:
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1) 这里引入了 DeclareLaunchArgument:把 'topic' 声明为命令行可改的形参;
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2) 用 LaunchConfiguration('topic') 在生成时取其值,
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让 Node 的 topic 参数跟随命令行传入变化(launch_arguments 是
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IncludeLaunchDescription 内部传参的标准做法)。
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3) 这样从外部:
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ros2 launch cpp_pubsub pubsub_launch.py topic:=my_topic
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会让两个 C++ 节点都订阅/发布到 my_topic。
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运行:
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source install/setup.bash
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ros2 launch cpp_pubsub pubsub_launch.py
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ros2 launch cpp_pubsub pubsub_launch.py topic:=hello
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"""
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# LaunchDescription:容器类型。
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from launch import LaunchDescription
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# DeclareLaunchArgument:声明一个可被命令行 / 父 launch 覆盖的形参。
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from launch.actions import DeclareLaunchArgument
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# LaunchConfiguration:在生成 LaunchDescription 期间"懒求值"某个参数的值。
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from launch.substitutions import LaunchConfiguration
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# Node:声明运行一个 ROS2 节点的动作。
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from launch_ros.actions import Node
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def generate_launch_description():
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"""导出函数,返回 LaunchDescription 实例。"""
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def generate_launch_description() -> LaunchDescription:
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"""生成启动描述:C++ Publisher + C++ Subscriber。"""
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topic_name_arg = LaunchConfiguration('topic_name')
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publish_rate_hz_arg = LaunchConfiguration('publish_rate_hz')
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# 声明 topic 形参,默认值 'chatter',在终端可用 topic:=xxx 覆盖。
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topic_arg = DeclareLaunchArgument(
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'topic',
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default_value='chatter',
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description='Topic name for both pubs/subs',
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publisher_node = Node(
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package='cpp_pubsub',
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executable='chatter_publisher_cpp',
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name='chatter_publisher_cpp',
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output='screen',
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parameters=[{
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'topic_name': topic_name_arg,
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'publish_rate_hz': publish_rate_hz_arg,
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}],
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)
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# 取出 LaunchConfiguration('topic') 的当前值,后续当参数用。
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topic = LaunchConfiguration('topic')
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subscriber_node = Node(
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package='cpp_pubsub',
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executable='chatter_subscriber_cpp',
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name='chatter_subscriber_cpp',
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output='screen',
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parameters=[{
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'topic_name': topic_name_arg,
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}],
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)
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return LaunchDescription([
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topic_arg, # 把声明本身也放进 LaunchDescription 里(声明是动作之一)。
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# C++ 发布节点
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Node(
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package='cpp_pubsub',
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executable='talker', # CMakeLists 里 add_executable(talker ...)
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name='talker_cpp',
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output='screen',
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parameters=[{
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'period_ms': 500,
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'topic': topic, # 用上面 LaunchConfiguration 取代硬编码字符串,
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# 让命令行参数动态注入。
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}],
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),
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# C++ 订阅节点
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Node(
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package='cpp_pubsub',
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executable='listener',
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name='listener_cpp',
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output='screen',
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parameters=[{
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'topic': topic,
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}],
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),
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])
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publisher_node,
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subscriber_node,
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])
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+15
-19
@@ -1,31 +1,27 @@
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<?xml version="1.0"?>
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<!--
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package.xml —— cpp_pubsub 包的元数据。
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对 C++ 包而言,<exec_depend> 一般可缺,因为 CMakeLists.txt 里 find_package
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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。
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-->
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<?xml-model
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href="http://download.ros.org/schema/package_format3.xsd"
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schematypens="http://www.w3.org/2001/XMLSchema"?>
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href="http://download.ros.org/schema/package_format3.xsd"
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schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>cpp_pubsub</name>
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<version>0.1.0</version>
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<description>C++ talker/listener demo for ROS2 Humble</description>
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<description>
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ROS2 Topic pub/sub 演示包 (C++)。
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与 py_pubsub 配合验证跨语言互通(Python ↔ C++)。
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属于 Level 1 基础机制第 1-2 块。
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</description>
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<maintainer email="dev@example.com">xs</maintainer>
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<license>Apache-2.0</license>
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<license>MIT</license>
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<!-- depend:这是 C++ 编译 + 链接 + 运行都需要的 ROS 库。 -->
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<depend>rclcpp</depend> <!-- C++ 客户端库。 -->
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<depend>std_msgs</depend> <!-- 内置基础消息。 -->
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<buildtool_depend>ament_cmake</buildtool_depend>
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<!-- test_depend:仅在 colcon test 时被安装/使用。 -->
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<test_depend>ament_lint_auto</test_depend> <!-- 自动调度几种 lint -->
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<test_depend>ament_lint_common</test_depend> <!-- cpplint / uncrustify -->
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<test_depend>ament_cmake_gtest</test_depend> <!-- gtest 集成 -->
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<test_depend>launch_testing_ros</test_depend><!-- launch integration -->
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<depend>rclcpp</depend>
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<depend>std_msgs</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<!-- export/build_type = ament_cmake:让 colcon 调用 CMake 构建。 -->
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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</package>
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@@ -0,0 +1,63 @@
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// chatter_publisher.cpp - C++ ChatterPublisher 实现
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#include "cpp_pubsub/chatter_publisher.hpp"
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#include <chrono>
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#include <string>
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namespace cpp_pubsub
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{
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using namespace std::chrono_literals;
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ChatterPublisher::ChatterPublisher(const rclcpp::NodeOptions & options)
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: rclcpp::Node("chatter_publisher", options), publish_count_(0)
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{
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// 1) 声明参数(类型模板版 + 描述符)
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this->declare_parameter<int>(
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"publish_rate_hz", 2,
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rcl_interfaces::msg::ParameterDescriptor().set_description("发布频率 (Hz)"));
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this->declare_parameter<std::string>(
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"topic_name", "chatter",
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rcl_interfaces::msg::ParameterDescriptor().set_description("发布话题名"));
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// 2) 读参数
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const int publish_rate_hz = this->get_parameter("publish_rate_hz").as_int();
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const std::string topic_name = this->get_parameter("topic_name").as_string();
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// 3) 构造发布者 + 定时器
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publisher_ = this->create_publisher<std_msgs::msg::String>(topic_name, 10);
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// 防零除
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const auto period = (publish_rate_hz > 0) ?
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std::chrono::milliseconds(1000 / publish_rate_hz) :
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std::chrono::milliseconds(1000);
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timer_ = this->create_wall_timer(
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period, std::bind(&ChatterPublisher::timer_callback, this));
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RCLCPP_INFO(
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this->get_logger(),
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"ChatterPublisher started: rate=%d Hz, topic=\"%s\"",
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publish_rate_hz, topic_name.c_str());
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}
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void ChatterPublisher::timer_callback()
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{
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try {
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auto msg = std_msgs::msg::String();
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msg.data = "Hello from C++, seq=" + std::to_string(publish_count_++);
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publisher_->publish(msg);
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} catch (const std::exception & exc) {
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RCLCPP_ERROR(this->get_logger(), "publish failed: %s", exc.what());
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}
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}
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} // namespace cpp_pubsub
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int main(int argc, char * argv[])
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{
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rclcpp::init(argc, argv);
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rclcpp::spin(std::make_shared<cpp_pubsub::ChatterPublisher>());
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rclcpp::shutdown();
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return 0;
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}
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@@ -0,0 +1,42 @@
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// chatter_subscriber.cpp - C++ ChatterSubscriber 实现
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#include "cpp_pubsub/chatter_subscriber.hpp"
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#include <string>
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namespace cpp_pubsub
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{
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ChatterSubscriber::ChatterSubscriber(const rclcpp::NodeOptions & options)
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: rclcpp::Node("chatter_subscriber", options), received_count_(0)
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{
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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;
|
||||
}
|
||||
@@ -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);
|
||||
}
|
||||
Reference in New Issue
Block a user