ROS_Kinetic_26 使用rosserial_windows实现windows与ROS master发送与接收消息

使用rosserial_windows实现windows与ROS master发送与接收消息（适用版本hydro，indigo，jade，kinetic）

官方wiki地址汇总请参考：http://blog.csdn.net/zhangrelay/article/details/52705019

调试视频链接：http://v.youku.com/v_show/id_XMTc0MzUxMjE3Mg

1 简介

在windows系统下有大量的软硬件支持，有些难以移植到Ubuntu系统供ROS使用，如果使得ROS master和windows pc之间进行高效通信，这就可能需要使用rosserial_windows功能包，它可以实现从windows接收和发送ROS消息。在windows端，需要使用Visual Studios Solution，基本流程如下：

（1）使用ROS功能包生成ros_lib

（2）在Visual Studios Solution中使用ros_lib

（3）编写代码使用ros_lib实现和ROS master连接，并收发消息

（4）在Ubuntu端启动rosserial_server socket

（5）编译并运行windows app

2 生成ros_lib

在ubuntu安装相应功能包，如下：

~$ sudo apt-get install ros-kinetic-rosserial-windows ros-kinetic-rosserial-server

生成ros_lib，这是windows必须文件：

~$ rosrun rosserial_windows make_libraries.py ros_lib

3 在Visual Studio Project中添加并使用ros_lib发送消息

新建一个win32工程如下，具体如下，细节请参考官方教程：

Create a new Win32 Console Application

Open Visual Studio
File -> New Project
Find the Win32 Console Application under Installed -> Templates -> Visual C++ -> Win32
Give your project a name. We'll use rosserial_hello_world
You will probably want to turn off precompile headers. The project should work with them enabled, but precompiled headers have caused problems in the past.

Copy ros_lib into the project

Copy the ros_lib folder into the rosserial_hello_world project folder. The folder structure should look like:

rosserial_hello_world/
- ipch/
- ros_lib/
  - ros.h
  - WindowsSocket.cpp
  - ... all of the rosserial generated code, including folders for all of the message packages
- rosserial_hello_world/
  - ReadMe.txt
  - rosserial_hello_world.cpp
  - rosserial_hello_world.vcxproj
  - rosserial_hello_world.vcxproj.filters
  - stdafx.cpp
  - stdafx.h
  - targetver.h
- rosserial_hello_world.opensdf
- rosserial_hello_world.sdf
- rosserial_hello_world.sln
- rosserial_hello_world.v12.suo

Add ros_lib to project

Add all of the files in the ros_lib folder that aren't in subfolders to your project. As of writing this, those are:

ros.h
duration.cpp
time.cpp
WindowsSocket.h
WindowsSocket.cpp

Then add the ros_lib folder to your includes path by:

Right-click on the rosserial_hello_world project in the Solution Explorer and go to Properties
Under C/C++, add "../ros_lib" to the Additional Include Directories property

主要代码：

#include "stdafx.h"
#include <string>
#include <stdio.h>
#include "ros.h"
#include <geometry_msgs/Twist.h>
#include <windows.h>

using std::string;

int _tmain(int argc, _TCHAR* argv[])
{
  ros::NodeHandle nh;
  char *ros_master = "192.168.1.102";

  printf ("Connecting to server at %s
", ros_master);
  nh.initNode (ros_master);

  printf ("Advertising cmd_vel message
");
  geometry_msgs::Twist twist_msg;
  ros::Publisher cmd_vel_pub ("cmd_vel", &twist_msg);
  nh.advertise (cmd_vel_pub);

  printf ("Go robot go!
");
  while (1)
  {
    twist_msg.linear.x = 0.4;
    twist_msg.linear.y = 0;
    twist_msg.linear.z = 0;
    twist_msg.angular.x = 0;
    twist_msg.angular.y = 0;
    twist_msg.angular.z = 0.2;
    cmd_vel_pub.publish (&twist_msg);

    nh.spinOnce ();
    Sleep (100);
  }

  printf ("All done!
");
  return 0;
}

如果报错，请认真核查是否严格按步骤进行，编译成功后，如下：

rospc端，启动一个小海龟接收消息：

~$ roscore

~$ rosrun turtlesim turtlesim_node

~$ rosrun rosserial_server socket_node /cmd_vel:=/turtle1/cmd_vel

4 在Visual Studio Project中添加并使用ros_lib接收消息

过程和发送消息类似，具体如下：

这个例子和发送类似不详细叙述。

5 在Visual Studio Project中添加并使用ros_lib收发消息

这里例子具体说明一下，rospc接收手机发送的速度消息后发送给winpc，winpc再转发给rospc控制小海龟或turblebot运动。

#include "stdafx.h"
#include <string>
#include <stdio.h>
#include "ros.h"
#include <geometry_msgs/Twist.h>
#include <windows.h>

using std::string;
geometry_msgs::Twist twist_msg;

void cmd_vel_angular_callback (const geometry_msgs::Twist & cmd_vel)
{
	  printf ("接收手机cmd_vel %f, %f, %f, %f, %f, %f
",
	  cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.linear.z,
	  cmd_vel.angular.x, cmd_vel.angular.y, cmd_vel.angular.z);
	  twist_msg=cmd_vel;
}

int _tmain(int argc, _TCHAR* argv[])
{
  ros::NodeHandle nh;
  char *ros_master = "192.168.1.102";

  printf ("正在连接 %s
", ros_master);
  nh.initNode (ros_master);

  ros::Subscriber < geometry_msgs::Twist > 
    poseSub ("cmd_vel", &cmd_vel_angular_callback);
  nh.subscribe (poseSub);
  printf ("等待接受消息
");

  printf ("转发cmd_vel_winpc消息 
");
  ros::Publisher cmd_vel_pub ("cmd_vel_winpc", &twist_msg);
  nh.advertise (cmd_vel_pub);

  while (1)
  {
	cmd_vel_pub.publish (&twist_msg);
    nh.spinOnce ();
    Sleep (100);
  }

  printf ("All done!
");
  return 0;
}

ros：

~$ roslaunch turtlebot_gazebo turtlebot_world.launch

~$ rostopic echo /cmd_vel_winpc

-End-