【kinetic】操作系统探索总结（八）键盘控制
如果尝试过前面的例子，有没有感觉每次让机器人移动还要在终端里输入指令，这也太麻烦了，有没有办法通过键盘来控制机器人的移动呢?答案室当然的了。我研究了其他几个机器人键盘控制的代码，还是有所收获的，最后移植到了smartcar上，实验成功。
一、创建控制包
首先，我们为键盘控制单独建立一个包：
01.catkin_create_pkg smartcar_teleop rospy geometry_msgs std_msgs roscpp
02.catkin_make
二、简单的消息发布
在机器人仿真中，主要控制机器人移动的就是 在机器人仿真中，主要控制机器人移动的就是Twist()结构，如果我们编程将这个结构通过程序发布成topic，自然就可以控制机器 人了。我们先用简单的python来尝试一下。
之前的模拟中，我们使用的都是在命令行下进行的消息发布，现在我们需要把这些命令转换成python代码，封装到一个单独的节点中去。针对之前的命令行，我们可以很简单的 在smartcar_teleop/scripts文件夹下编写如下的控制代码:
#!/usr/bin/env python
import roslib; roslib.load_manifest('smartcar_teleop')
import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import String
class Teleop:
def __init__(self):
pub = rospy.Publisher('cmd_vel', Twist)
rospy.init_node('smartcar_teleop')
rate = rospy.Rate(rospy.get_param('~hz', 1))
self.cmd = None
cmd = Twist()
cmd.linear.x = 0.2
cmd.linear.y = 0
cmd.linear.z = 0
cmd.angular.z = 0
cmd.angular.z = 0
cmd.angular.z = 0.5
self.cmd = cmd
while not rospy.is\_shutdown():
str = "hello world %s" % rospy.get\_time()
rospy.loginfo(str)
pub.publish(self.cmd)
rate.sleep()if __name__ == '__main__':Teleop()
p { margin-bottom: 0.1in; direction: ltr; line-height: 120%; text-align: justify }
a:link { color: rgba(0, 0, 255, 1) }
python代码在ROS重视不需要编译的。(python代码不需要编译但是要给py代码可执行权限chmod +x python.py，运行方式是 rosrun package python.py。C++代码需要catkin_make后rosrun package codes。catkin_make前需要修改CMakeList.txt)
先运行之前教程中用到的smartcar机器人，在rviz中进行显示，然后新建终端，输入如下命令：
p { margin-bottom: 0.1in; direction: ltr; line-height: 120%; text-align: justify }
a:link { color: rgba(0, 0, 255, 1) }
rosrun smartcar_teleop teleop.py
p { margin-bottom: 0.1in; direction: ltr; line-height: 120%; text-align: justify }
a:link { color: rgba(0, 0, 255, 1) }
也可以建立一个launch文件运行：
使用 roslaunch运行
在rviz中看一下机器人是不是动起来了!
三、加入键盘控制
当然前边的程序不是我们要的，我们需要的键盘控制。
1、移植
因为ROS的代码具有很强的可移植性，所以用键盘控制的代码其实可以直接从其他机器人包中移植过来，在这里我主要参考的是erratic_robot，在这个机器人的代码中有一个erratic_teleop包，可以直接移植过来使用。
首先，我们将其中src文件夹下的keyboard.cpp代码文件直接拷贝到我们smartcar_teleop包的src文件夹下，然后修改CMakeLists.txt文件，将下列代码加入文件底部：
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(smartcar_teleop src/keyboard.cpp)
target_link_libraries(smartcar_teleop ${catkin_LIBRARIES})
（注意:不能直接添加在文件底部，可以搜索相似的添加方式，添加在CMakeList.txt的合适位置）
在src文件夹下新建 keyboard.cpp文件。
#include <termios.h>
#include <signal.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/poll.h>
#include <boost/thread/thread.hpp>
#include <ros/ros.h>
#include <geometry\_msgs/Twist.h>
#define KEYCODE\_W 0x77
#define KEYCODE\_A 0x61
#define KEYCODE\_S 0x73
#define KEYCODE\_D 0x64
#define KEYCODE\_A\_CAP 0x41
#define KEYCODE\_D\_CAP 0x44
#define KEYCODE\_S\_CAP 0x53
#define KEYCODE\_W\_CAP 0x57
class SmartCarKeyboardTeleopNode
{
private:
double walk\_vel\_;
double run\_vel\_;
double yaw\_rate\_;
double yaw\_rate\_run\_;
geometry\_msgs::Twist cmdvel\_;
ros::NodeHandle n\_;
ros::Publisher pub\_;
public:
SmartCarKeyboardTeleopNode()
{
pub\_ = n\_.advertise<geometry\_msgs::Twist>("cmd\_vel", 1);
ros::NodeHandle n\_private("~");
n\_private.param("walk\_vel", walk\_vel\_, 0.5);
n\_private.param("run\_vel", run\_vel\_, 1.0);
n\_private.param("yaw\_rate", yaw\_rate\_, 1.0);
n\_private.param("yaw\_rate\_run", yaw\_rate\_run\_, 1.5);
}
~SmartCarKeyboardTeleopNode() { }
void keyboardLoop();
void stopRobot()
{
cmdvel\_.linear.x = 0.0;
cmdvel\_.angular.z = 0.0;
pub\_.publish(cmdvel\_);
}
};
SmartCarKeyboardTeleopNode\* tbk;
int kfd = 0;
struct termios cooked, raw;
bool done;
int main(int argc, char\*\* argv)
{
ros::init(argc,argv,"tbk", ros::init\_options::AnonymousName | ros::init\_options::NoSigintHandler);
SmartCarKeyboardTeleopNode tbk;
boost::thread t = boost::thread(boost::bind(&SmartCarKeyboardTeleopNode::keyboardLoop, &tbk));
ros::spin();
t.interrupt();
t.join();
tbk.stopRobot();
tcsetattr(kfd, TCSANOW, &cooked);
return(0);
}
void SmartCarKeyboardTeleopNode::keyboardLoop()
{
char c;
double max\_tv = walk\_vel\_;
double max\_rv = yaw\_rate\_;
bool dirty = false;
int speed = 0;
int turn = 0;
// get the console in raw mode
tcgetattr(kfd, &cooked);
memcpy(&raw, &cooked, sizeof(struct termios));
raw.c\_lflag &=~ (ICANON | ECHO);
raw.c\_cc\[VEOL\] = 1;
raw.c\_cc\[VEOF\] = 2;
tcsetattr(kfd, TCSANOW, &raw);
puts("Reading from keyboard");
puts("Use WASD keys to control the robot");
puts("Press Shift to move faster");
struct pollfd ufd;
ufd.fd = kfd;
ufd.events = POLLIN;
for(;;)
{
boost::this\_thread::interruption\_point();
// get the next event from the keyboard
int num;
if ((num = poll(&ufd, 1, 250)) < 0)
{
perror("poll():");
return;
}
else if(num > 0)
{
if(read(kfd, &c, 1) < 0)
{
perror("read():");
return;
}
}
else
{
if (dirty == true)
{
stopRobot();
dirty = false;
}
continue;
}
switch(c)
{
case KEYCODE\_W:
max\_tv = walk\_vel\_;
speed = 1;
turn = 0;
dirty = true;
break;
case KEYCODE\_S:
max\_tv = walk\_vel\_;
speed = -1;
turn = 0;
dirty = true;
break;
case KEYCODE\_A:
max\_rv = yaw\_rate\_;
speed = 0;
turn = 1;
dirty = true;
break;
case KEYCODE\_D:
max\_rv = yaw\_rate\_;
speed = 0;
turn = -1;
dirty = true;
break;
case KEYCODE\_W\_CAP:
max\_tv = run\_vel\_;
speed = 1;
turn = 0;
dirty = true;
break;
case KEYCODE\_S\_CAP:
max\_tv = run\_vel\_;
speed = -1;
turn = 0;
dirty = true;
break;
case KEYCODE\_A\_CAP:
max\_rv = yaw\_rate\_run\_;
speed = 0;
turn = 1;
dirty = true;
break;
case KEYCODE\_D\_CAP:
max\_rv = yaw\_rate\_run\_;
speed = 0;
turn = -1;
dirty = true;
break;
default:
max\_tv = walk\_vel\_;
max\_rv = yaw\_rate\_;
speed = 0;
turn = 0;
dirty = false;
}
cmdvel\_.linear.x = speed \* max\_tv;
cmdvel\_.angular.z = turn \* max\_rv;
pub\_.publish(cmdvel\_);
}
}CMakeList.txt文件
cmake_minimum_required(VERSION 2.8.3)
project(smartcar_teleop)
Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
Find catkin macros and libraries
if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
rospy
std_msgs
urdf
)
System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
Uncomment this if the package has a setup.py. This macro ensures
modules and global scripts declared therein get installed
See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
catkin_python_setup()
################################################
Declare ROS messages, services and actions ##
################################################
To declare and build messages, services or actions from within this
package, follow these steps:
* Let MSG_DEP_SET be the set of packages whose message types you use in
your messages/services/actions (e.g. std_msgs, actionlib_msgs, …).
* In the file package.xml:
* add a build_depend tag for "message_generation"
* add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
* If MSG_DEP_SET isn't empty the following dependency has been pulled in
but can be declared for certainty nonetheless:
* add a exec_depend tag for "message_runtime"
* In this file (CMakeLists.txt):
* add "message_generation" and every package in MSG_DEP_SET to
find_package(catkin REQUIRED COMPONENTS …)
* add "message_runtime" and every package in MSG_DEP_SET to
catkin_package(CATKIN_DEPENDS …)
* uncomment the add_*_files sections below as needed
and list every .msg/.srv/.action file to be processed
* uncomment the generate_messages entry below
* add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES …)
Generate messages in the 'msg' folder
add_message_files(
FILES
Message1.msg
Message2.msg
)
Generate services in the 'srv' folder
add_service_files(
FILES
Service1.srv
Service2.srv
)
Generate actions in the 'action' folder
add_action_files(
FILES
Action1.action
Action2.action
)
Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
geometry_msgs# std_msgs
)
################################################
Declare ROS dynamic reconfigure parameters ##
################################################
To declare and build dynamic reconfigure parameters within this
package, follow these steps:
* In the file package.xml:
* add a build_depend and a exec_depend tag for "dynamic_reconfigure"
* In this file (CMakeLists.txt):
* add "dynamic_reconfigure" to
find_package(catkin REQUIRED COMPONENTS …)
* uncomment the "generate_dynamic_reconfigure_options" section below
and list every .cfg file to be processed
Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(
cfg/DynReconf1.cfg
cfg/DynReconf2.cfg
)
###################################
catkin specific configuration ##
###################################
The catkin_package macro generates cmake config files for your package
Declare things to be passed to dependent projects
INCLUDE_DIRS: uncomment this if your package contains header files
LIBRARIES: libraries you create in this project that dependent projects also need
CATKIN_DEPENDS: catkin_packages dependent projects also need
DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES smartcar_teleop
CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs urdf
DEPENDS system_lib
)
###########
Build ##
###########
Specify additional locations of header files
Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
)
Declare a C++ library
add_library(${PROJECT_NAME}
src/${PROJECT_NAME}/smartcar_teleop.cpp
)
Add cmake target dependencies of the library
as an example, code may need to be generated before libraries
either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
Declare a C++ executable
With catkin_make all packages are built within a single CMake context
The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node src/smartcar_teleop_node.cpp)
add_executable(smartcar_teleop src/keyboard.cpp)
Rename C++ executable without prefix
The above recommended prefix causes long target names, the following renames the
target back to the shorter version for ease of user use
e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
Add cmake target dependencies of the executable
same as for the library above
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
${catkin_LIBRARIES}
)
target_link_libraries(smartcar_teleop ${catkin_LIBRARIES})
#############
Install ##
#############
all install targets should use catkin DESTINATION variables
See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
Mark executable scripts (Python etc.) for installation
in contrast to setup.py, you can choose the destination
install(PROGRAMS
scripts/my_python_script
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES
# myfile1
# myfile2
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#############
Testing ##
#############
Add gtest based cpp test target and link libraries
catkin_add_gtest(${PROJECT_NAME}-test test/test_smartcar_teleop.cpp)
if(TARGET ${PROJECT_NAME}-test)
target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
endif()
Add folders to be run by python nosetests
catkin_add_nosetests(test)
catkin_make 之后我们执行程序
rosrun smartcar_teleop smartcar_teleop
这样我们就可以用WSAD来控制rviz中的机器人了。
最后附上我自己写的python代码:
#!/usr/bin/env python
#-*- coding:utf-8 -*
import os
import sys
import tty, termios
import roslib; roslib.load_manifest('smartcar_teleop')
import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import _String
cmd = Twist()
pub = rospy.Publisher('cmd_vel',Twist)
def keyboardLoop():
rospy.init_node('smartcar_teleop')
rate = rospy.Rate(rospy.get_param('~hz',1));
walk\_vel\_ = rospy.get\_param('walk\_vel',0.5)
run\_vel\_ = rospy.get\_param('run\_vel',1.0)
yaw\_rate\_ = rospy.get\_param('yaw\_rate',1.0)
yaw\_rate\_run\_ = rospy.get\_param('yaw\_rate\_run',1.5)
max\_tv = walk\_vel\_
max\_rv = yaw\_rate\_
print "Reading from keyboard"
print "Use WASD keys to control the robot"
print "Press Caps to move faster"
print "Press q to quit"
while not rospy.is\_shutdown():
fd = sys.stdin.fileno()
old\_settings = termios.tcgetattr(fd)
old\_settings\[3\] = old\_settings\[3\]&~termios.ICANON&~termios.ECHO
try:
tty.setraw(fd)
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd,termios.TCSADRAIN,old\_settings)
if ch == 'w':
max\_tv = walk\_vel\_
speed = 1
turn = 0
elif ch=='s':
max\_tv = walk\_vel\_
speed = -1
turn = 0
elif ch == 'a':
max\_tv = yaw\_rate\_
speed = 0
turn = 1
elif ch == 'd':
max\_rv = yaw\_rate\_
speed = 0
turn = -1
elif ch == 'W':
max\_tv = walk\_vel\_
speed = 1
turn = 0
elif ch=='S':
max\_tv = walk\_vel\_
speed = -1
turn = 0
elif ch == 'A':
max\_tv = yaw\_rate\_
speed = 0
turn = 1
elif ch == 'D':
max\_rv = yaw\_rate\_
speed = 0
turn = -1
elif ch == 'q':
exit()
else:
max\_tv = walk\_vel\_
max\_rv = yaw\_rate\_
speed = 0
turn = 0
cmd.linear.x = speed \* max\_tv
cmd.angular.z = turn\*max\_rv
pub.publish(cmd)
rate.sleep()
stop\_robot()def stop_robot():
cmd.linear.x=0.0
cmd.angular.z=0.0
pub.publish(cmd)
if __name__ == '__main__':
try:
keyboardLoop()
except rospy.ROSInterruptException:
pass
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