xs
67 lines
2.1 KiB
Markdown
67 lines
2.1 KiB
Markdown
# cpp_custom_interface
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ROS2 自定义接口演示包(C++)。属于 Level 1 基础机制第 10 块。
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## 自定义接口
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| 类型 | 文件 | 字段 |
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|---|---|---|
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| `msg` | `SensorReading.msg` | header + sensor_id + unit + value |
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| `srv` | `GetCalibration.srv` | req: sensor_id / resp: intrinsic_matrix[9] + bias[3] + date + valid |
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| `action` | `MoveArm.action` | goal: target_pose + joint_names + scaling / feedback: progress + state / result: success + time |
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## 节点
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- **`sensor_publisher_cpp`**: 周期性发布 `SensorReading`(正弦曲线模拟传感器读数)
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- **`calibration_server_cpp`**: 提供 `GetCalibration` 服务(返回模拟相机内参)
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- **`move_arm_server_cpp`**: 提供 `MoveArm` Action(5 阶段模拟移动)
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## 关键概念
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| 概念 | 用途 |
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| `rosidl_generate_interfaces` | 自动生成 C++ / Python 接口代码 |
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| `.msg` / `.srv` / `.action` | 接口定义文件 |
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| `rosidl_default_generators` | 构建时依赖 |
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| `rosidl_default_runtime` | 运行时依赖 |
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| `ament_cmake` | C++ 包构建类型 |
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## 运行
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```bash
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# 启动所有自定义接口节点
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ros2 launch cpp_custom_interface custom_launch.py
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# CLI 调用服务
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ros2 service call /get_calibration cpp_custom_interface/srv/GetCalibration "{sensor_id: 'lidar_front'}"
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# CLI 发 Action goal
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ros2 action send_goal /move_arm cpp_custom_interface/action/MoveArm "{
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target_pose: {header: {frame_id: 'base_link'}, pose: {position: {x: 0.3, y: 0.0, z: 0.2}, orientation: {w: 1.0}}},
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joint_names: ['joint1','joint2','joint3'],
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max_velocity_scaling: 0.5,
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max_acceleration_scaling: 0.5
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}" --feedback
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# CLI 看自定义消息
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ros2 topic echo /sensor_reading
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```
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## 测试
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```bash
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colcon test --packages-select cpp_custom_interface
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```
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测试覆盖:
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| 用例 | 内容 |
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|---|---|
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| `SensorReadingFields` | msg 字段构造正确 |
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| `GetCalibrationRequestResponse` | srv 字段 + 长度正确 |
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| `MoveArmGoalFeedbackResult` | action 三段都正确 |
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## 深度学习
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- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md)
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- 自定义接口:[`doc/16-custom-interfaces.md`](../doc/16-custom-interfaces.md) |