一、ROS文件系统层级
  ROS的文件和文件夹按如下层级来组织:
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" alt="" />   
  文件层级中每个模块的功能如下:
  • Packages: ROS中最基本的软件单元,包含ROS实时进程(nodes)、libraries、configuration files等。功能包是ROS软件的原子构建项和发布项。
  • Package manifest: 该package manifest文件包含在一个package中,包含该package、author、license、dependencies、compilation flags等相关信息。在ROS package的package.xml文件是该功能包的说明文件。
  • Meta packages: 该meta package是指由特定目的组成的一个group of packages。在原来的ROS版本中,packages group被称为stacks。一个meta package,如ROS navigation stack。
  • Meta packages manifest: 该meta package manifest类似于上述的package manifest。差别在于该manifest包含packages作为其runtime dependencies且声明一个export tag。
  • Messages(.msg): ROS 消息是一种ROS进程间传递的信息类型。在package的msg文件夹可自定义定制的消息类型。消息文件的后缀为.msg。
  • Services(.srv): ROS service是一种进程间的request/reply类的交互过程。可在package的srv文件夹中定义该reply和request数据类型。
  • Repositories: 大部分的ROS packages是使用版本控制系统(VCS)来维护的,如Git、subversion(svn)、mercurial(hg)等。共用一个common VCS的packages集合可称为repositories。在repositories的package可使用一个catkin自动发布工具来发布,该工具是bloom。
1、ROS packages
  一个典型的ROS功能包的结构如下:
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" alt="" />        
  每个文件夹的作用如下:
  • config: 在该ROS package中使用的所有配置文件均保存在该文件夹。该文件夹由用户创建,且通常命名为config,来保存配置文件。
  • include/package_name: 该文件包含该package需要的头文件和libraries文件。
  • scripts:该文件夹保存可执行的Python 脚本文件。
  • src: 该文件夹保存C++源文件代码。
  • launch:该文件夹保存用于启动一个或多个ROS节点的launch 文件。
  • msg: 该文件夹保存定制的消息定义。
  • srv: 该文件夹保存service定义。
  • action:该文件夹保存action定义。
  • package.xml:该文件是该功能包的package manifest文件。
  • CMakeLists.txt: 该文件是该功能包的CMake构建文件。
     与ROS packages相关的指令如下:
  • catkin_create_pkg: 用于创建一个新的package
  • rospack: 用于获取在该文件系统中该package的信息
  • catkin_make: 用于在工作空间构建该packages
  • rosdep: 用于安装该package所需的系统依赖项。
  ROS提供了一个类bash的命令:rosbash,以便于操作packages,用于navigate和manipulate这些ROS package。一些主要的rosbash命令如下:
  • roscd: 用于更改the package folder。如果给定一个功能包名为参数,将切换到该功能包文件夹。
  • roscp: 用于从一个package中复制一个文件。
  • rosed: 用于编辑一个文件。
  • rosrun: 用于运行一个package中的一个可执行文件。
  一个典型package的package.xml文件如下:
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" alt="" />
     该package.xml文件包含该功能包名、功能包版本、功能包描述、作者详情、功能包构建依赖项和实时依赖项。该<build_depend></build_depend>tag包含构建该功能包源文件所需的packages。该<run_depend></run_depend>tag是在该功能包节点运行时所需的功能包。
 
2、ROS meta packages
     Meta packages是ROS的特定功能包,只包含一个文件,即一个package.xml文件。Meta packages只是将一系列多个功能包组成一个单独的逻辑package。在该package.xml文件中,该meta packages包含一个export tag,如下:
<export>
<metapackage/>
</export>
     此外,在meta packages中,没用用于catkin的<buildtool_depend>依赖项,只有<run_depend>依赖项。
     该ROS navigation stack就是一个meta packages。切换到该navigation meta package文件夹,并打开其package.xml文件:
$ roscd navigation
$ gedit package.xml
  其package.xml文件的内容如下:
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" alt="" />
3、ROS messages
     ROS节点可以特定类型发布数据。数据类型由ROS messages来描述。ROS messages的数据类型描述存储在该ROS package的子目录msg文件中的.msg文件中。
     消息定义由两种类型组成:fields和constants。该field可分为field types和field name。filed types就是传输消息的数据类型。而constants在该message文件中定义一个常量值。例如,一个消息定义为:
int32 number
string name
float32 speed
  第一部分是field type,第二部分是field name。可使用该field name来获取该消息的数值,如使用msg.number来获取该消息的number的值。
  可使用的内嵌的field types如下:
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" alt="" />    
  一种特定的ROS消息类型是message headers。Headers可携带信息,如time、参考坐标系或frame_id、序列数等。此类header信息主要用于发送数据,如robot joint transforms(TF)。
 
4、ROS services
     ROS Services是一种用于ROS nodes间的request/response通讯机制。一个node发送一个request并等待,直到其从另一个node处接收到一个response。
     在.srv文件中定义该service definition,该文件被保存在该package的子目录srv下。一个service description format的例子如下:
#Request message type
string str
---
#Response message type
string str
     第一部分是request的消息类型,第二部分是response的消息类型,两部分由---分隔。
 
二、ROS 计算图层级
     ROS的计算通过一个process网络来实现,这些process称为ROS nodes。该计算网络可称为计算图。该计算图的主要概念是ROS Nodes、Master、Parameter server、Messages、Topics、Services和Bags。
     ROS通讯相关功能包(包括核心client库,如roscpp、rospy)和核心概念实现功能包(如topics、nodes、parameters和services)包含在一个ros_comm的stack中。该stack也包括其他工具来introspect上述概念,如rostopic、rosparam、rosservice、rosnode。
     该ros_comm stack包括ROS通讯中间件功能包,这些功能包共同被称为ROS Graph layer。
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" alt="" />    
  每个图级概念的抽象如下:
  • Nodes:节点是执行计算的process。每个ROS节点都是使用ROS client 库来写的,如roscpp和rospy。使用client library APIs,可实现在ROS 节点间的不同类型的通讯。
  • Master:ROS Master提供名称注册和所有节点的lookup。在分布式系统中,应在一个computer上运行该master,其他远程nodes通过与该master通讯来相互找寻。
  • Parameter Server:该参数服务器允许将数据保存在一个中间位置。所有的节点都可以获取并修改这些值。Parameter Server是ROS Master的一部分。
  • Messages: 节点间使用Messages相互通讯。Messages只是一种数据结构。
  • Topics:ROS 的每个message是由buses来传送的,该buses被称为topics。当一个节点通过一个topic发送一个message时,可称为该节点正在发布一个topic。当一个节点通过一个topic接收一个message时,可称为该节点订阅了该topic。该publishing 节点和该subscribing节点是相互不知道对方的存在的,即消息的产生和消耗是decoupled。
  • Services:该publish/subscribe模型是一种单向传输系统,当在分布式系统时,可能需要一种request/response交互方式,ROS Services即用于这种情况。可定义一个service definition:一部分用于request,一部分用于response。为使用ROS Services,要编写一个server node和一个client node。
  • Bags:Bags是一种格式,用于保存并回放ROS message data。
1、ROS nodes
  ROS nodes是一个执行计算的进程,使用ROS client libraries,如roscpp和rospy。节点间使用ROS Topics、Services和Parameters来通讯。
     有一个rosbash工具来introspect ROS nodes。该rosnode命令用于获取一个ROS node的信息,用法如下:
  • $ rosnode info [node_name]:  打印该node的信息。
  • $ rosnode kill [node_name]:  kill一个正在运行的node。
  • $ rosnode list:  列举正在运行的nodes。
  • $ rosnode machine [machine_name]:  列举在某个特定machine或一系列machines上运行的nodes。
  • $ rosnode ping:  检测一个node的connectivity。
  • $ rosnode cleanup:  清楚unreachable nodes的注册信息。
2、ROS messages
     messages是一种包含field types的数据结构。ROS message支持标准的基本数据类型和基本数据类型的arrays。ROS使用一种MD5 checksum comparison来验证the publisher和the subscriber交换的数据类型。
     ROS内嵌工具rosmsg用来获取ROS message的消息,一些rosmsg参数如下:
  •  $ rosmsg show [message]: 显示该message 描述。
  •  $ rosmsg list: 列举所有的messages。
  •  $ rosmsg md5 [message]: 显示一个message的md5sum。
  •  $ rosmsg package [package_name]: 列举一个package中的messages。
  •  $ rosmsg packages [package_1] [package_2]: 列举包含messages的packages。
3、ROS topics
         ROS nodes使用topics来通讯,使用基于TCP/IP的传输来实现,又称为TCPROS,这是ROS默认的传输方法。另一种通讯方式是UDPROS,具有低延迟、松传输的特点,只适用于远程操作。
     ROS topic工具可用于获取ROS topics的信息,该命令语法如下:
  • $ rostopic bw /topic: 显示给定topic的所用带宽。
  • $ rostopic echo /topic: 打印给定topic的内容。
  • $ rostopic find /message_type: 查找使用给定message类型的topics。
  • $ rostopic hz /topic: 显示给定topic的发布频率。
  • $ rostopic info /topic: 打印一个active topic的信息。
  • $ rostopic list: 列举在ROS系统中的所有active topics。
  • $ rostopic pub /topic message_type args: 以特定message类型发布一个数值到一个topic。
  • $ rostopic type /topic: 显示给定topic的message类型。
4、ROS services
  ROS services使用一对messages来定义,必须在一个srv文件中定义一个request 数据类型和一个response数据类型,该srv文件保存在功能包的srv文件夹。
     有两个ROS工具来获取ROS service的信息,第一个工具是rossrv,类似于rosmsg,用于获取该service类型的信息;第二个工具是rosservice,用于列举和query正在运行的ROS services。
     rosservice命令的用法如下:
  • $ rosservice call /service args: 使用给定参数来调用the service。
  • $ rosservice find service_type: 以给定service type来查找services。
  • $ rosservice info /services: 打印给定service的信息。
  • $ rosservice list: 列举正在系统上运行的active services。
  • $ rosservice type /service: 打印给定service的service type。
  • $ rosservice uri /service: 打印该service的ROSRPC URI。
5、ROS bags
     ROS的bag文件用于存储来自topics和services的ROS message data,后缀为.bag。使用rosbag命令可创建bag文件,将订阅一个或多个topics并将接收的信息存储其message的data。rosbag的主要应用是数据记录。可记录机器人的数据并离线查看和处理。
     rosbag命令的用法如下:
  • $ rosbag record [topoc_1] [topic_2] -o [bag_name]: 记录给定的topics到一个bag文件。也可以使用参数-a来保存所有的topics。
  • $ rosbag play [bag_name]: 回放已有的bag文件。
6、ROS Master
     ROS Master类似于一个DNS server。ROS Master具有所有在ROS系统中运行的节点的详情。
     当一个节点开始发布一个topic时,该node将该topic的详情(如name和data type)发送给ROS Master。ROS Master将会检测是否其他nodes订阅了同一topic。如果有节点订阅了同一topic,ROSMaster将会共享该发布者的节点详情给订阅者节点。获得节点详情后,这两个节点会使用TCPROS协议来相互交互。当我们停止任一节点,节点将再次与ROS Master检查。同样的方法适用于ROS services。
     使用ROS client libraries编写nodes,如roscpp和rospy。这些clients使用基于XMLRPC(XML Remote Procedure Call)的APIs来与ROS Master进行交互,这些APIs是ROS系统APIs的基石。
     环境参数ROS_MASTER_URI包含ROS Master的IP和port。使用该变量,ROS nodes能够定位ROS Master。如果该变量值是错误的,nodes间的通讯将不存在。当我们在单个系统中使用ROS时,可使用localhost的IP或localhost名称本身。但在分布式系统,即计算在不同的物理计算机上进行,应合适地定义ROS_MASTER_URI,只有如此,远程节点才能相互找到并通讯。在分布式系统,我们只需要一个Master,应在一个计算机上运行该Master,而其他计算机合适地与其进行ping以保证远程ROS nodes能够access the Master。
 
7、ROS parameter
     当进行机器人编程时,可能必须定义机器人参数,如机器人控制器增益P、I、D。ROS提供一个parameter server,一个共享的server,即所有的ROS nodes都能够由该server获取parameters。一个node可从parameter server中read、write、modify和delete 参数值。
     我们可以将这些参数存储在一个文件中并load到该server。该server能够存储大量的数据类型甚至存储dictionaries。使用者也可以设置该parameter的scope,即该parameter是否只由某个node或所有的nodes可accessed。
     该parameter server支持以下XMLRPC数据类型,包括:
  • 32-bit integers
  • Booleans
  • strings
  • doubles
  • iso8601 dates
  • lists
  • base64-encoded binary data
     也可以将dictionaries存储在该parameter server。如果参数数目比较多,可使用一个YAML文件保存,以下是一个YAML文件的参数定义:
              /camera/name : 'nikon'     #string type
              /camera/fps : 30                #integer
              /camera/exposure : 1.2     #float
              /camera/active : true         #boolean
     rosparam工具用于获取并设置ROS parameter,以下是命令用法:
  • $ rosparam set [parameter_name] [value] : 设置给定参数的值。
  • $ rosparam get [parameter_name]: 获取给定参数的值。
  • $ rosparam load [YAML file]: 可使用一个YAML文件保存ROS参数,使用该命令将其load到该parameter server。
  • $ rosparam dump [YAML file]: 将已有的ROS参数保存到一个YAML文件。
  • $ rosparam delete [parameter_name]: 删除一个给定参数
  • $ rosparam list: 列举已有的参数名称。
  在nodes运行期间可动态地更改参数值,使用dynamic_reconfigure功能包。
 
三、ROS社区层级
     ROS资源形成了一个新的ROS社区,用于交互software和knowledge。社区中包括多种资源:DistributionRepositories、The ROSWiki、Bug ticket system、Mailing listsROS Answers、Blog。
 

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