ROS 话题测试案例

前置条件

已完成ROS主从机通信配置（以机器狗为主机，本地计算机为从机）

本文内容操作步骤以感知主机为例，导航主机的配置方法与此类似。

准备工作

连接机器狗WiFi

使用网线将开发主机连接到机器狗尾部网口，或通过 WiFi 连接机器狗：

WiFi 名称：X30******（请查看机器狗序列号）
WiFi 密码为：12345678

连接WiFi

登录机器狗终端

ssh ysc@192.168.1.105

密码是 '（英文单引号）

登录成功界面

测试本地终端与机器狗终端连通性

得到本地终端的IP：

查看本地IP

在机器狗终端 ping 本地终端，在本地终端 ping 机器狗终端：

ping 192.168.1.123   #机器狗终端输入，注意替换为你自己本地终端的IP
ping 192.168.1.105   #本地终端输入

若两个终端均有数据返回，则表示连通。

ping测试1

ping测试2

主机名配置

从机 .bashrc 文件修改

export HOSTNAME=szc     #替换为本地终端的名字
export ROS_IP=192.168.1.123     #替换为本地终端的IP
export ROS_MASTER_URI=http://192.168.1.105:11311     #机器狗的IP

改完之后 source ~/.bashrc。

从机bashrc配置验证

从机 hosts 文件修改（一般仅需修改一次）

sudo vi /etc/hosts

增加以下内容（注意IP和hostname之间是tab不是空格）：

192.168.1.123  szc #替换为本地终端的IP和名字
192.168.1.105  ysc

从机hosts文件修改

主机 .bashrc 文件修改

export ROS_HOSTNAME=ysc
export ROS_IP=192.168.1.105
export ROS_MASTER_URI=http://192.168.1.105:11311

改完之后 source ~/.bashrc。

主机bashrc配置验证

验证输出：

http://192.168.1.105:11311
http://192.168.1.105:11311

主机bashrc验证结果

主机 hosts 文件修改

sudo vi /etc/hosts

增加以下内容：

192.168.1.105  ysc
192.168.1.123  szc  #替换为你自己本地终端的IP和名字

主机hosts文件修改

主从机通讯测试

在本地终端执行：

rostopic list

若能列出一系列话题名：

rostopic list

再以 /battery/current 话题为例测试：

rostopic echo /battery/current

若可接收到话题消息，表示主从机通讯配置成功。

rostopic echo测试

场景一：ROS自带话题，无需自定义

以 /imu/data 话题为例，该话题为开机后即有消息发布。

订阅者节点文件源码

#include "ros/ros.h"
#include "sensor_msgs/Imu.h"

int g_count = 0;

void imuCallback(const sensor_msgs::Imu::ConstPtr& msg)
{
  g_count++;
  ROS_INFO("Subscribed imu data, cycle : %d ", g_count);

  ROS_INFO("header: ");
  ROS_INFO("  seq: %d", msg->header.seq);
  ROS_INFO("  stamp: ");
  ROS_INFO("    secs: %d", msg->header.stamp.sec);
  ROS_INFO("    nsecs: %d", msg->header.stamp.nsec);
  ROS_INFO("  frame_id: \"%s\"", msg->header.frame_id.c_str());

  ROS_INFO("orientation: ");
  ROS_INFO("  x: %f", msg->orientation.x);
  ROS_INFO("  y: %f", msg->orientation.y);
  ROS_INFO("  z: %f", msg->orientation.z);
  ROS_INFO("  w: %f", msg->orientation.w);

  ROS_INFO("angular_velocity: ");
  ROS_INFO("  x: %f", msg->angular_velocity.x);
  ROS_INFO("  y: %f", msg->angular_velocity.y);
  ROS_INFO("  z: %f", msg->angular_velocity.z);

  ROS_INFO("linear_acceleration: ");
  ROS_INFO("  x: %f", msg->linear_acceleration.x);
  ROS_INFO("  y: %f", msg->linear_acceleration.y);
  ROS_INFO("  z: %f", msg->linear_acceleration.z);

  ROS_INFO("---");
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "imu_subscriber");
  ros::NodeHandle nh;
  ros::Subscriber sub = nh.subscribe("/imu/data", 10, imuCallback);
  ros::spin();
  return 0;
}

CMakeLists.txt 配置

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  sensor_msgs
)

CMakeLists find_package

catkin_package(
   CATKIN_DEPENDS roscpp rospy sensor_msgs
)

CMakeLists catkin_package

add_executable(imu_subscriber src/imu_subscriber.cpp)
target_link_libraries(imu_subscriber ${catkin_LIBRARIES})

CMakeLists add_executable

运行

cd ~/jy_cog/transfer
catkin_make
export ROS_IP=192.168.1.123  #替换为本地终端的IP
export ROS_MASTER_URI=http://192.168.1.105:11311
source devel/setup.bash
rosrun imu_driver imu_subscriber

场景二：自定义话题消息

以话题 /battery_state 为例，消息类型 message_transformer_cpp/BatteryData 是自定义消息类型。

自定义消息文件源码（BatteryData.msg）

uint16 voltage
int16 current
uint16 remaining_capacity
uint16 nominal_capacity
uint16 cycles
uint16 production_date
uint16 balanced_low
uint16 balanced_high
uint16 protected_state
uint8 software_version
uint8 battery_level
uint8 mos_state
uint8 battery_quantity
uint8 battery_ntc
float32[] battery_temperature

订阅者节点文件源码

#include "ros/ros.h"
#include "battery_state/BatteryData.h"

int g_count = 0;

void batteryCallback(const battery_state::BatteryData::ConstPtr& msg)
{
    g_count++;

    ROS_INFO("voltage: %d", msg->voltage);
    ROS_INFO("current: %d", msg->current);
    ROS_INFO("remaining_capacity: %d", msg->remaining_capacity);
    ROS_INFO("nominal_capacity: %d", msg->nominal_capacity);
    ROS_INFO("cycles: %d", msg->cycles);
    ROS_INFO("production_date: %d", msg->production_date);
    ROS_INFO("balanced_low: %d", msg->balanced_low);
    ROS_INFO("balanced_high: %d", msg->balanced_high);
    ROS_INFO("protected_state: %d", msg->protected_state);
    ROS_INFO("software_version: %d", msg->software_version);
    ROS_INFO("battery_level: %d", msg->battery_level);
    ROS_INFO("mos_state: %d", msg->mos_state);
    ROS_INFO("battery_quantity: %d", msg->battery_quantity);
    ROS_INFO("battery_ntc: %d", msg->battery_ntc);

    ROS_INFO("battery_temperature: [");
    for (size_t i = 0; i < msg->battery_temperature.size(); ++i) {
        if (i == msg->battery_temperature.size() - 1) {
            ROS_INFO("  %f", msg->battery_temperature[i]);
        } else {
            ROS_INFO("  %f,", msg->battery_temperature[i]);
        }
    }
    ROS_INFO("]");
    ROS_INFO("---");
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "battery_subscriber");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("/battery_state", 10, batteryCallback);
    ros::spin();
    return 0;
}

CMakeLists.txt 配置

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  std_msgs
  message_generation
)

add_message_files(FILES BatteryData.msg)
generate_messages(DEPENDENCIES std_msgs)

catkin_package(
   CATKIN_DEPENDS roscpp rospy sensor_msgs message_runtime
)

add_executable(battery_subscriber src/battery_subscriber.cpp)
target_link_libraries(battery_subscriber ${catkin_LIBRARIES})
add_dependencies(battery_subscriber ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

package.xml 配置

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

场景三：依赖外部ROS功能包

需提前完成 Livox-ros-driver2 驱动包的安装和环境配置，具体参考 Livox驱动安装教程。

问题： rostopic echo /livox/lidar 输出时仅有点云数组相关数据，不含标准消息头和激光雷达帧元数据。

解决方案： 在本地终端需要先完成 Livox-ros-driver2 驱动包的安装，才能在本地终端正确解析 /livox/lidar 话题的自定义消息类型。