ros開發增加clion常用模板

clion 初始化開發配置筆記針對ros

1. clion模板配置

 

 

模板數據在下面!

 

2.大小寫匹配提示

3. 打開clion後不會進入上一次項目

2. c++ class 模板配置

#parse("C File Header.h")
#[[#ifndef]]# ${INCLUDE_GUARD}
#[[#define]]# ${INCLUDE_GUARD}

${NAMESPACES_OPEN}

class ${NAME} {
public:
    ${NAME}();
    ~${NAME}();
};

${NAMESPACES_CLOSE}

#[[#endif]]# //${INCLUDE_GUARD}

 

#parse("C File Header.h")
#[[#include]]# "${HEADER_FILENAME}"

${NAME}::${NAME}(){
    
}
${NAME}::~${NAME}(){

}

 

3.python ros環境配置

 Clion的Python環境¶

爲了演示第一個程序，首先我們按照前面的例子，在workspace中創建一個demo_py的package，我們基於這個demo_py進行講解開發。

使用clion打開demo_py。

1. 創建scripts目錄¶

在demo_py的目錄中創建scripts目錄，用於寫python代碼。

2.配置Python環境¶

打開clion的setting，來到Build,Execution,Deployment的Python Interpreter下,點擊設置按鍵，點擊添加。

打開python環境設置按鈕，添加python環境

Tip

特別要注意**的是，目前ROS Melodic版本還**不支持python3，要等到ROS N版纔會支持。

因此，我們選擇環境的時候**選擇python2.x版本**。

注意: 新建的python文件需要改權限才能運行 chmoe 777 *

 

-----------------------------------------------------------------------------------------------

模板數據

python 模板:

py_main

#!/usr/bin/env python
# coding:utf-8
 
import rospy
# 導入數據
from std_msgs.msg import String
if __name__ == '__main__':
    # 節點名
    nodeName = 'py_publisher'
    # 初始化節點 定義匿名節點加參數 anonymous=True
    rospy.init_node(nodeName,anonymous=True)

py_node

import rospy


    # 節點名
    nodeName = 'py_publisher'
    # 初始化節點 定義匿名節點加參數 anonymous=True
    rospy.init_node(nodeName,anonymous=True)

 

1.py_class_PyQt5 

#!/usr/bin/env python
# coding:utf-8
from PyQt5.QtWidgets import QWidget,QFormLayout,QLineEdit,QPushButton,QLabel
from geometry_msgs.msg import Twist
from turtlesim.msg import Pose
import rospy

class MainWindow(QWidget):
    def __init__(self,publisher):
        super(MainWindow, self).__init__()
        pass

2.py_main_PyQt5

#!/usr/bin/env python
# coding:utf-8


from PyQt5.QtWidgets import QApplication
from MainWindow import MainWindow
import sys
import rospy
if __name__ == '__main__':
    # 創建節點
    rospy.init_node("py_control")
    # 創建Qt
    app = QApplication(sys.argv)
    # 創建窗口
    w = MainWindow()
    # 展示窗口
    w.show()
    # 等待程序結束
    sys.exit(app.exec_())

3.1server

py_client_main

#!/usr/bin/env python
# coding:utf-8
import rospy
from roscpp_tutorials.srv import TwoInts,TwoIntsRequest

if __name__ == '__main__':
    # 創建節點
    rospy.init_node("py_client")
    # service名字
    serviceName = 'py_service'
    # 創建客戶端
    proxy = rospy.ServiceProxy(serviceName, TwoInts)
    # 等待service上線
    proxy.wait_for_service()
    # 請求數據
    req = TwoIntsRequest()
    req.a = 12
    req.b = 13
    # 調用service
    result = proxy.call(req)
    print result

 py_client

    import rospy    
    from roscpp_tutorials.srv import TwoInts,TwoIntsRequest

    # service名字
    serviceName = 'py_service'
    # 創建客戶端
    proxy = rospy.ServiceProxy(serviceName, TwoInts)
    # 等待service上線
    proxy.wait_for_service()
    # 請求數據
    req = TwoIntsRequest()
    req.a = 12
    req.b = 13
    # 調用service
    result = proxy.call(req)
    print result

 

3.1 py_server_main

#!/usr/bin/env python
# coding:utf-8
import rospy
from roscpp_tutorials.srv import TwoInts

def callBack(req):
    return req.a+req.b

if __name__ == '__main__':
    # 創建節點
    rospy.init_node("py_server")
    # service名字
    serviceName = 'py_service'
    # 創建server端
    service = rospy.Service(serviceName, TwoInts, callBack)
    # 阻塞
    rospy.spin()

 py_server

import rospy
from roscpp_tutorials.srv import TwoInts

def callBack(req):
    return req.a+req.b

# 創建節點
rospy.init_node("py_server")
# service名字
serviceName = 'py_service'
# 創建server端
service = rospy.Service(serviceName, TwoInts, callBack)
# 阻塞
rospy.spin()

 

 

4. topic

py_publisher_main

#!/usr/bin/env python
# coding:utf-8

import rospy
# 導入數據
from std_msgs.msg import String
if __name__ == '__main__':

    # 節點名
    nodeName = 'py_publisher'
    # 初始化節點
    rospy.init_node(nodeName,anonymous=True)
    # 話題名
    topicName = 'py_topic'
    # 創建發佈者
    publisher = rospy.Publisher(topicName, String, queue_size=5)
    # 每一秒鐘發送一條消息
    rate = rospy.Rate(1)
    i = 0
    # 循環
    while not rospy.is_shutdown():
        # 消息內容
        data = String()
        data.data = 'hello {}'.format(i)
        # 發送消息
        publisher.publish(data)
        # 增加數據
        i += 1
        rate.sleep()

 

py_publisher

import rospy
# 導入數據
from std_msgs.msg import String


    # 話題名
    topicName = 'py_topic'
    # 創建發佈者
    publisher = rospy.Publisher(topicName, String, queue_size=5)
    # 每一秒鐘發送一條消息
    rate = rospy.Rate(1)
    i = 0
    # 循環
    while not rospy.is_shutdown():
        # 消息內容
        data = String()
        data.data = 'hello {}'.format(i)
        # 發送消息
        publisher.publish(data)
        # 增加數據
        i += 1
        rate.sleep()

 

 py_subscriber_main

#!/usr/bin/env python
# coding:utf-8

import rospy
# from std_msgs.msg import String
from geometry_msgs.msg import Twist
import threading
# python訂閱者回調在子線程中
def callBack(data):
    print '接收的線程id:{}'.format(threading.current_thread().name)
    print '收到數據:{}'.format(data.linear.x)

if __name__ == '__main__':
    print '主線程線程id:{}'.format(threading.current_thread().name)
    # 節點名
    nodeName = 'py_subscriber'
    # 初始化節點
    rospy.init_node(nodeName,anonymous=True)
    # topic名字
    topicName = 'py_topic'
    # 創建訂閱者
    # 參數1：topic名字
    # 參數2：topic數據類型
    # 參數3：回調函數
    subscriber = rospy.Subscriber(topicName, Twist, callBack)
    # 事件處理
    rospy.spin()

 

py_subscriber

import rospy
# from std_msgs.msg import String
from geometry_msgs.msg import Twist


def callBack(data):
    data.linear.x
    print '收到數據:{}'.format(data.linear.x)

  
# topic名字
topicName = 'py_topic'
# 創建訂閱者
# 參數1：topic名字
# 參數2：topic數據類型
# 參數3：回調函數
subscriber = rospy.Subscriber(topicName, Twist, callBack)
# 事件處理
rospy.spin()

 

c++ 模板:

cpp_main

#include <iostream>
#include <ros/ros.h>
using namespace std;

int main(int argc,char *argv[]){
    //節點名
    string nodeName = "$args1$";
    //初始化節點
    ros::init(argc,argv,nodeName);
    //創建節點
    ros::NodeHandle node;
    $args2$
    //事件輪詢
    ros::spin();
    return 0;
}

cpp_node

    //創建節點
    ros::NodeHandle node;
    

 

1.  cpp_class_source_Qt5 

#include <QWidget>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QPushButton>
#include <QLineEdit>
#include <QCheckBox>
#include <ros/ros.h>
#include <std_srvs/Empty.h>
#include <turtlesim/Spawn.h>
#include <turtlesim/Kill.h>
#include <turtlesim/SetPen.h>
#include <turtlesim/TeleportAbsolute.h>
#include <turtlesim/TeleportRelative.h>
#include <iostream>
#include "MainWindow.h"

MainWindow::MainWindow(ros::NodeHandle node, QWidget *parent) : QWidget(parent), node(node)
{
    
}

MainWindow::~MainWindow() {

}

2.   cpp_class_head_Qt5 

#include <QWidget>
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QPushButton>
#include <QLineEdit>
#include <QCheckBox>
#include <ros/ros.h>
#include <std_srvs/Empty.h>
#include <turtlesim/Spawn.h>
#include <turtlesim/Kill.h>
#include <turtlesim/SetPen.h>
#include <turtlesim/TeleportAbsolute.h>
#include <turtlesim/TeleportRelative.h>
#include <iostream>

using namespace std;
class MainWindow: public QWidget {

public:
    explicit MainWindow(ros::NodeHandle node,QWidget* parent = Q_NULLPTR);

    ~MainWindow() override;

};

3.server  

cpp_client_main

#include <iostream>
#include <ros/ros.h>
#include <roscpp_tutorials/TwoInts.h>
using namespace std;

int main(int argc,char *argv[]){
    //節點名
    string nodeName = "cpp_client";
    //初始化節點
    ros::init(argc,argv,nodeName,ros::init_options::AnonymousName);
    //創建節點
    ros::NodeHandle node;
    //service名字
    string serviceName = "cpp_service";
    //創建client
    ros::ServiceClient client = node.serviceClient<roscpp_tutorials::TwoInts>(serviceName);
    //等待server端上線
    client.waitForExistence();
    //定義數據
    roscpp_tutorials::TwoInts service;
    service.request.a = 12;
    service.request.b = 13;
    //調用service
    client.call(service);
    ROS_INFO_STREAM("result:"<<service.response.sum);
    //事件輪詢
    ros::spin();
    return 0;
}

cpp_client

#include <iostream>
#include <ros/ros.h>
#include <roscpp_tutorials/TwoInts.h>
using namespace std;


    //service名字
    string serviceName = "cpp_service";
    //創建client
    ros::ServiceClient client = node.serviceClient<roscpp_tutorials::TwoInts>(serviceName);
    //等待server端上線
    client.waitForExistence();
    //定義數據
    roscpp_tutorials::TwoInts service;
    service.request.a = 12;
    service.request.b = 13;
    //調用service
    client.call(service);
    ROS_INFO_STREAM("result:"<<service.response.sum);
    //事件輪詢
    ros::spin();

 

3.1

cpp_server_main

#include <iostream>
#include <ros/ros.h>
#include <roscpp_tutorials/TwoInts.h>
using namespace std;

bool callBack(roscpp_tutorials::TwoIntsRequest& req,roscpp_tutorials::TwoIntsResponse& res){
    //從請求中獲取兩個參數
    //把和通過res返回出去
    res.sum = req.a+req.b;
    return true;
}

int main(int argc,char *argv[]){
    //節點名
    string nodeName = "cpp_server";
    //初始化節點
    ros::init(argc,argv,nodeName);
    //創建節點
    ros::NodeHandle node;
    //service名字
    string serviceName = "cpp_service";
    //創建server端
    const ros::ServiceServer &server = node.advertiseService(serviceName, callBack);
    //事件輪詢
    ros::spin();
    return 0;
}

cpp_server

#include <iostream>
#include <ros/ros.h>
#include <roscpp_tutorials/TwoInts.h>
using namespace std;

bool callBack(roscpp_tutorials::TwoIntsRequest& req,roscpp_tutorials::TwoIntsResponse& res){
    //從請求中獲取兩個參數
    //把和通過res返回出去
    res.sum = req.a+req.b;
    return true;
}


   
    //service名字
    string serviceName = "cpp_service";
    //創建server端
    const ros::ServiceServer &server = node.advertiseService(serviceName, callBack);
    //事件輪詢
    ros::spin();

4 topic

cpp_publisher_main

#include <iostream>
#include <ros/ros.h>
#include <std_msgs/String.h>
using namespace std;
int main(int argc,char *argv[]){
    //節點名
    string nodeName = "cpp_publisher";
    //初始化節點 匿名節點
    ros::init(argc,argv,nodeName,ros::init_options::AnonymousName);
    //創建節點
    ros::NodeHandle node;
    //節點名
    string topicName = "cpp_topic";
    //創建topic發送者
    //參數1：節點名
    //參數2：消息隊列容量
    const ros::Publisher &publisher = node.advertise<std_msgs::String>(topicName, 5);
    //每隔一秒鐘發送一條消息
    ros::Rate rate(1);
    int i = 0;
    while (ros::ok()){
        std_msgs::String data;
        data.data = "hello "+to_string(i);
        //發送一條消息
        publisher.publish(data);
        //增加i
        i+=1;
        //睡眠
        rate.sleep();
    }
    return 0;
}

 cpp_publishe

#include <iostream>
#include <ros/ros.h>
#include <std_msgs/String.h>
using namespace std;



    //節點名
    string topicName = "cpp_topic";
    //創建topic發送者
    //參數1：節點名
    //參數2：消息隊列容量
    const ros::Publisher &publisher = node.advertise<std_msgs::String>(topicName, 5);
    //每隔一秒鐘發送一條消息
    ros::Rate rate(1);
    int i = 0;
    while (ros::ok()){
        std_msgs::String data;
        data.data = "hello "+to_string(i);
        //發送一條消息
        publisher.publish(data);
        //增加i
        i+=1;
        //睡眠
        rate.sleep();
    }

 

 

cpp_subscriber_main

#include <iostream>
#include <std_msgs/String.h>
#include <ros/ros.h>
#include <thread>
using namespace std;
//c++ 訂閱者的回調在主線程中
void callBack(std_msgs::String::ConstPtr data){
    cout<<"回調:"<<this_thread::get_id()<<endl;
    cout<<"收到消息:"<<data->data<<endl;
}

int main(int argc, char *argv[]) {
    cout<<"主線程:"<<this_thread::get_id()<<endl;
    //節點名
    string nodeName = "cpp_subscriber";
//    string nodeName = "cpp_publisher";
    //初始化節點
    ros::init(argc, argv, nodeName,ros::init_options::AnonymousName);
    //創建節點
    ros::NodeHandle node;
    //topic名字
    string topicName = "cpp_topic";
    //訂閱者
    //參數1：topic名字
    //參數2：隊列長度
    //參數3：回調函數
    //注意：返回的Subscriber必須要接收,如果不接受 可能收不到消息
    const ros::Subscriber &subscriber = node.subscribe<std_msgs::String>(topicName, 5, callBack);
    //ros::spin 處理事件
    ros::spin();
    return 0;
}

cpp_subscriber

#include <iostream>
#include <std_msgs/String.h>
#include <ros/ros.h>
#include <thread>
using namespace std;
//c++ 訂閱者的回調在主線程中
void callBack(std_msgs::String::ConstPtr data){
    cout<<"回調:"<<this_thread::get_id()<<endl;
    cout<<"收到消息:"<<data->data<<endl;
}




    //topic名字
    string topicName = "cpp_topic";
    //訂閱者
    //參數1：topic名字
    //參數2：隊列長度
    //參數3：回調函數
    //注意：返回的Subscriber必須要接收,如果不接受 可能收不到消息
    const ros::Subscriber &subscriber = node.subscribe<std_msgs::String>(topicName, 5, callBack);
    ros::spin();