机器人操作系统（ROS2）入门与实践 课件 第12章 基于ROS2的综合应用.ppt

12.3编写程序代码objects_publisher_cmd=Node(package=wpr_simulation2,executable=objects_publisher,name=objects_publisher,parameters=[{auto_start:False}])?grab_object_cmd=Node(package=wpr_simulation2,executable=grab_object_sim,name=grab_object_sim)12.3编写程序代码rviz_file=os.path.join(get_package_share_directory(wpr_simulation2),rviz,fetch.rviz)rviz_cmd=Node(package=rviz2,executable=rviz2,name=rviz2,arguments=[-d,rviz_file])?ld=LaunchDescription()ld.add_action(home_mani_cmd)ld.add_action(navigation_cmd)ld.add_action(wp_edit_cmd)ld.add_action(wp_navi_server_cmd)ld.add_action(objects_publisher_cmd)ld.add_action(grab_object_cmd)ld.add_action(rviz_cmd)?returnld12.3编写程序代码在home_pkg的CMakeLists.txt文件里，添加如下安装规则：3、设置安装规则install(DIRECTORYlaunchDESTINATIONshare/${PROJECT_NAME})4、编译软件包cd~/ros2_wscolconbuild12.3编写程序代码12.3.2服务机器人程序实现1、编写节点代码在VSCode中找到home_pkg软件包，在“src”文件夹新建文件，命名为“fetch.cpp”。下面编写这个代码文件内容：12.3编写程序代码#includerclcpp/rclcpp.hpp#includestd_msgs/msg/string.hpp?#defineSTEP_WAIT0#defineSTEP_GOTO_KITCHEN1#defineSTEP_GRAB_DRINK2#defineSTEP_GOTO_GUEST3#defineSTEP_DONE4staticintfetch_step=STEP_WAIT;?std::shared_ptrrclcpp::Nodenode;rclcpp::Publisherstd_msgs::msg::String::SharedPtrnavi_pub;rclcpp::Publisherstd_msgs::msg::String::SharedPtrbehavior_pub;12.3编写程序代码voidNaviResultCallback(conststd_msgs::msg::String::SharedPtrmsg){RCLCPP_INFO(node-get_logger(),[NaviResultCallback]%s,msg-data.c_str());if(fetch_step==STEP_GOTO_KITCHENmsg-data==navidone){std_msgs::msg::Stringmsg;msg.data=startgrab;behavior_pub-publish(msg);fetch_step=STE