init: ROS2 learning suite

2026-08-03 18:09:35 +08:00
commit 5ef38ab508
95 changed files with 13322 additions and 0 deletions
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+cmake_minimum_required(VERSION 3.16)
+project(cpp_robot_tf2 VERSION 0.1.0)
+
+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()
+
+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
+)
+
+# --- 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
+)
+
+install(TARGETS
+  joint_state_publisher
+  tf2_listener
+  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
+  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()