[{"data":1,"prerenderedAt":3692},["ShallowReactive",2],{"wiki-page-\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0700-jian-pan-kong-zhi-jie-dian":3,"wiki-doc-items-2023-12-30-ros2-tutorial":3271,"wiki:author-members":3680},{"id":4,"title":5,"authors":6,"body":8,"chapterDepth":92,"chapterOrder":3259,"date":3260,"description":57,"docKey":3261,"docRoot":3262,"docTitle":3263,"extension":3264,"isWikiDoc":88,"isWikiIndex":3265,"meta":3266,"navigation":88,"path":3267,"seo":3268,"stem":3269,"wikiDepth":64,"__hash__":3270},"wiki\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1400-0600-0700-键盘控制节点.md","键盘控制节点",[7],"董佳辉",{"type":9,"value":10,"toc":3252},"minimark",[11,15,24,47,51,79,199,249,256,259,866,869,938,941,944,962,1097,1100,1103,1107,1144,1147,1153,1159,1165,1171,1176,1179,1501,1504,3248],[12,13,14],"h3",{"id":14},"简介",[16,17,18,19,23],"p",{},"要在 ROS2 中使用 ",[20,21,22],"code",{},"keyboard"," 节点控制底盘，我们需要实现以下步骤：",[25,26,27,35,41],"ol",{},[28,29,30,34],"li",{},[31,32,33],"strong",{},"创建 ROS2 包"," 创建一个新的 ROS2 包用于实现键盘控制功能。",[28,36,37,40],{},[31,38,39],{},"编写键盘控制节点"," 编写一个 C++ 节点，用于监听键盘输入并发布速度命令。",[28,42,43,46],{},[31,44,45],{},"与麦轮底盘通信"," 将发布的速度命令与底盘控制结合。",[12,48,50],{"id":49},"twist消息接口","Twist消息接口",[52,53,58],"pre",{"className":54,"code":55,"language":56,"meta":57,"style":57},"language-bash shiki shiki-themes github-light github-dark","ros2 interface show geometry_msgs\u002Fmsg\u002FTwist\n","bash","",[20,59,60],{"__ignoreMap":57},[61,62,65,69,73,76],"span",{"class":63,"line":64},"line",1,[61,66,68],{"class":67},"sScJk","ros2",[61,70,72],{"class":71},"sZZnC"," interface",[61,74,75],{"class":71}," show",[61,77,78],{"class":71}," geometry_msgs\u002Fmsg\u002FTwist\n",[52,80,82],{"className":54,"code":81,"language":56,"meta":57,"style":57},"\n# This expresses velocity in free space broken into its linear and angular parts.\n\n# 该消息表示自由空间中的速度，分为线速度和角速度两部分。\n\nVector3 linear\n float64 x # 线速度的 x 分量（通常表示前后方向的速度）\n float64 y # 线速度的 y 分量（通常表示左右方向的速度）\n float64 z # 线速度的 z 分量（通常表示上下方向的速度）\n\nVector3 angular\n float64 x # 角速度的 x 分量（绕 x 轴的旋转速度）\n float64 y # 角速度的 y 分量（绕 y 轴的旋转速度）\n float64 z # 角速度的 z 分量（绕 z 轴的旋转速度）\n\n",[20,83,84,90,97,102,108,113,122,134,145,156,161,169,179,189],{"__ignoreMap":57},[61,85,86],{"class":63,"line":64},[61,87,89],{"emptyLinePlaceholder":88},true,"\n",[61,91,93],{"class":63,"line":92},2,[61,94,96],{"class":95},"sJ8bj","# This expresses velocity in free space broken into its linear and angular parts.\n",[61,98,100],{"class":63,"line":99},3,[61,101,89],{"emptyLinePlaceholder":88},[61,103,105],{"class":63,"line":104},4,[61,106,107],{"class":95},"# 该消息表示自由空间中的速度，分为线速度和角速度两部分。\n",[61,109,111],{"class":63,"line":110},5,[61,112,89],{"emptyLinePlaceholder":88},[61,114,116,119],{"class":63,"line":115},6,[61,117,118],{"class":67},"Vector3",[61,120,121],{"class":71}," linear\n",[61,123,125,128,131],{"class":63,"line":124},7,[61,126,127],{"class":67}," float64",[61,129,130],{"class":71}," x",[61,132,133],{"class":95}," # 线速度的 x 分量（通常表示前后方向的速度）\n",[61,135,137,139,142],{"class":63,"line":136},8,[61,138,127],{"class":67},[61,140,141],{"class":71}," y",[61,143,144],{"class":95}," # 线速度的 y 分量（通常表示左右方向的速度）\n",[61,146,148,150,153],{"class":63,"line":147},9,[61,149,127],{"class":67},[61,151,152],{"class":71}," z",[61,154,155],{"class":95}," # 线速度的 z 分量（通常表示上下方向的速度）\n",[61,157,159],{"class":63,"line":158},10,[61,160,89],{"emptyLinePlaceholder":88},[61,162,164,166],{"class":63,"line":163},11,[61,165,118],{"class":67},[61,167,168],{"class":71}," angular\n",[61,170,172,174,176],{"class":63,"line":171},12,[61,173,127],{"class":67},[61,175,130],{"class":71},[61,177,178],{"class":95}," # 角速度的 x 分量（绕 x 轴的旋转速度）\n",[61,180,182,184,186],{"class":63,"line":181},13,[61,183,127],{"class":67},[61,185,141],{"class":71},[61,187,188],{"class":95}," # 角速度的 y 分量（绕 y 轴的旋转速度）\n",[61,190,192,194,196],{"class":63,"line":191},14,[61,193,127],{"class":67},[61,195,152],{"class":71},[61,197,198],{"class":95}," # 角速度的 z 分量（绕 z 轴的旋转速度）\n",[200,201,202,228],"ul",{},[28,203,204,207,208],{},[31,205,206],{},"线速度（linear）"," ：描述物体在三维空间中沿直线运动的速度。通常在移动机器人中：",[200,209,210,216,222],{},[28,211,212,215],{},[20,213,214],{},"x"," 表示前进\u002F后退。",[28,217,218,221],{},[20,219,220],{},"y"," 表示左右平移。",[28,223,224,227],{},[20,225,226],{},"z"," 通常为 0，因为大部分地面机器人只在平面上运动。",[28,229,230,233,234],{},[31,231,232],{},"角速度（angular）"," ：描述物体在三维空间中绕某一轴旋转的速度。通常在移动机器人中：",[200,235,236,241],{},[28,237,238,240],{},[20,239,226],{}," 表示绕垂直轴的旋转（顺时针\u002F逆时针）。",[28,242,243,245,246,248],{},[20,244,214],{}," 和 ",[20,247,220],{}," 通常为 0，因为大多数地面机器人只需要在平面上旋转。",[16,250,251,252,255],{},"这个消息类型广泛用于控制机器人运动，也就是我们常说的DOF自由度，通过发布到 ",[20,253,254],{},"\u002Fcmd_vel"," 话题，可以为机器人提供运动指令。",[12,257,258],{"id":258},"发布cmd_vel给单片机",[52,260,264],{"className":261,"code":262,"language":263,"meta":57,"style":57},"language-cpp shiki shiki-themes github-light github-dark","\u002F\u002F初始化串口消息订阅\nrclcpp::Subscription\u003Cgeometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;\ncmd_vel_sub_ = this->create_subscription\u003Cgeometry_msgs::msg::Twist(\"cmd_vel\",10,std::bind(&Serial_Node::cmd_vel_sub_callback,this,std::placeholders::_1));\n\n void cmd_vel_sub_callback(const geometry_msgs::msg::Twist &cmd_msg)\n {\n \u002F\u002F bool bool_buffer[] = {1, 0, 1, 0};\n \u002F\u002F int8_t int8_buffer[] = {0x11,0x22};\n \u002F\u002F int16_t int16_buffer[] = {2000,6666};\n \u002F\u002F int32_t int32_buffer[] = {305419896};\n fp32 fp32_buffer[] = {(fp32)cmd_msg.linear.x,(fp32)cmd_msg.linear.y,(fp32)cmd_msg.linear.z,\n (fp32)cmd_msg.angular.x,(fp32)cmd_msg.angular.y,(fp32)cmd_msg.angular.z};\n\n \u002F\u002F由于ROS2中node为局部变量，所以只能在node中调用send函数，所以Serial_Transmit只负责处理data_buffer。\n serial_pack_.tx.Data_Pack(0x01, \n nullptr, 0,\n nullptr, 0,\n nullptr, 0,\n nullptr, 0,\n fp32_buffer, sizeof(fp32_buffer) \u002F sizeof(fp32));\n\n auto port = serial_driver_->port();\n\n try\n {\n size_t bytes_size = port->send(data_buffer);\n \u002F\u002F RCLCPP_INFO(this->get_logger(), \"Transmitted: \");\n \u002F\u002F for (size_t i = 0; i \u003C data_buffer.size(); ++i) \n \u002F\u002F {\n \u002F\u002F RCLCPP_INFO(this->get_logger(), \"0x%02X \", data_buffer[i]); \u002F\u002F以十六进制格式打印每个字节\n \u002F\u002F }\n RCLCPP_INFO(this->get_logger(), \"平动XYZ：%.6f,%.6f,%.6f\", fp32_buffer[0],fp32_buffer[1],fp32_buffer[2]);\n RCLCPP_INFO(this->get_logger(), \"转动XYZ：%.6f,%.6f,%.6f\", fp32_buffer[3],fp32_buffer[4],fp32_buffer[5]);\n RCLCPP_INFO(this->get_logger(), \"(%ld bytes)\", bytes_size);\n \u002F\u002F (void)bytes_size;\n }\n catch(const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Error Transmiting from serial port:%s\",ex.what());\n }\n }\n};\n","cpp",[20,265,266,271,302,378,382,416,421,426,431,436,441,451,456,460,465,485,500,511,522,533,554,559,579,584,590,596,616,622,628,634,643,649,704,751,778,784,790,811,816,849,854,860],{"__ignoreMap":57},[61,267,268],{"class":63,"line":64},[61,269,270],{"class":95},"\u002F\u002F初始化串口消息订阅\n",[61,272,273,276,280,283,286,289,291,294,296,299],{"class":63,"line":92},[61,274,275],{"class":67},"rclcpp",[61,277,279],{"class":278},"sVt8B","::",[61,281,282],{"class":67},"Subscription",[61,284,285],{"class":278},"\u003C",[61,287,288],{"class":67},"geometry_msgs",[61,290,279],{"class":278},[61,292,293],{"class":67},"msg",[61,295,279],{"class":278},[61,297,298],{"class":67},"Twist",[61,300,301],{"class":278},">::SharedPtr cmd_vel_sub_;\n",[61,303,304,307,311,315,318,320,322,324,326,328,330,333,336,339,342,344,347,349,352,354,357,360,363,366,368,370,372,375],{"class":63,"line":99},[61,305,306],{"class":278},"cmd_vel_sub_ 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void",[61,388,389],{"class":67}," cmd_vel_sub_callback",[61,391,332],{"class":278},[61,393,394],{"class":309},"const",[61,396,397],{"class":67}," geometry_msgs",[61,399,279],{"class":278},[61,401,293],{"class":67},[61,403,279],{"class":278},[61,405,298],{"class":67},[61,407,408],{"class":309}," &",[61,410,412],{"class":411},"s4XuR","cmd_msg",[61,414,415],{"class":278},")\n",[61,417,418],{"class":63,"line":115},[61,419,420],{"class":278}," {\n",[61,422,423],{"class":63,"line":124},[61,424,425],{"class":95}," \u002F\u002F bool bool_buffer[] = {1, 0, 1, 0};\n",[61,427,428],{"class":63,"line":136},[61,429,430],{"class":95}," \u002F\u002F int8_t int8_buffer[] = {0x11,0x22};\n",[61,432,433],{"class":63,"line":147},[61,434,435],{"class":95}," \u002F\u002F int16_t int16_buffer[] = {2000,6666};\n",[61,437,438],{"class":63,"line":158},[61,439,440],{"class":95}," \u002F\u002F int32_t int32_buffer[] = {305419896};\n",[61,442,443,446,448],{"class":63,"line":163},[61,444,445],{"class":278}," fp32 fp32_buffer[] ",[61,447,310],{"class":309},[61,449,450],{"class":278}," {(fp32)cmd_msg.linear.x,(fp32)cmd_msg.linear.y,(fp32)cmd_msg.linear.z,\n",[61,452,453],{"class":63,"line":171},[61,454,455],{"class":278}," (fp32)cmd_msg.angular.x,(fp32)cmd_msg.angular.y,(fp32)cmd_msg.angular.z};\n",[61,457,458],{"class":63,"line":181},[61,459,89],{"emptyLinePlaceholder":88},[61,461,462],{"class":63,"line":191},[61,463,464],{"class":95}," \u002F\u002F由于ROS2中node为局部变量，所以只能在node中调用send函数，所以Serial_Transmit只负责处理data_buffer。\n",[61,466,468,471,474,476,479,482],{"class":63,"line":467},15,[61,469,470],{"class":278}," serial_pack_.tx.",[61,472,473],{"class":67},"Data_Pack",[61,475,332],{"class":278},[61,477,478],{"class":309},"0x",[61,480,481],{"class":313},"01",[61,483,484],{"class":278},", \n",[61,486,488,491,494,497],{"class":63,"line":487},16,[61,489,490],{"class":313}," nullptr",[61,492,493],{"class":278},", 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sizeof",[61,552,553],{"class":278},"(fp32));\n",[61,555,557],{"class":63,"line":556},21,[61,558,89],{"emptyLinePlaceholder":88},[61,560,562,565,568,570,573,576],{"class":63,"line":561},22,[61,563,564],{"class":309}," auto",[61,566,567],{"class":278}," port ",[61,569,310],{"class":309},[61,571,572],{"class":278}," serial_driver_->",[61,574,575],{"class":67},"port",[61,577,578],{"class":278},"();\n",[61,580,582],{"class":63,"line":581},23,[61,583,89],{"emptyLinePlaceholder":88},[61,585,587],{"class":63,"line":586},24,[61,588,589],{"class":309}," try\n",[61,591,593],{"class":63,"line":592},25,[61,594,595],{"class":278}," {\n",[61,597,599,602,605,607,610,613],{"class":63,"line":598},26,[61,600,601],{"class":309}," size_t",[61,603,604],{"class":278}," bytes_size ",[61,606,310],{"class":309},[61,608,609],{"class":278}," port->",[61,611,612],{"class":67},"send",[61,614,615],{"class":278},"(data_buffer);\n",[61,617,619],{"class":63,"line":618},27,[61,620,621],{"class":95}," \u002F\u002F RCLCPP_INFO(this->get_logger(), \"Transmitted: \");\n",[61,623,625],{"class":63,"line":624},28,[61,626,627],{"class":95}," \u002F\u002F for (size_t i = 0; i \u003C data_buffer.size(); ++i) \n",[61,629,631],{"class":63,"line":630},29,[61,632,633],{"class":95}," \u002F\u002F {\n",[61,635,637,640],{"class":63,"line":636},30,[61,638,639],{"class":95}," \u002F\u002F RCLCPP_INFO(this->get_logger(), \"0x%02X \", data_buffer[i]);",[61,641,642],{"class":95}," \u002F\u002F以十六进制格式打印每个字节\n",[61,644,646],{"class":63,"line":645},31,[61,647,648],{"class":95}," \u002F\u002F }\n",[61,650,652,655,657,659,662,665,668,671,674,676,678,680,682,685,688,690,693,696,698,701],{"class":63,"line":651},32,[61,653,654],{"class":67}," RCLCPP_INFO",[61,656,332],{"class":278},[61,658,365],{"class":313},[61,660,661],{"class":278},"->",[61,663,664],{"class":67},"get_logger",[61,666,667],{"class":278},"(), 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fp32_buffer[",[61,689,496],{"class":313},[61,691,692],{"class":278},"],fp32_buffer[",[61,694,695],{"class":313},"1",[61,697,692],{"class":278},[61,699,700],{"class":313},"2",[61,702,703],{"class":278},"]);\n",[61,705,707,709,711,713,715,717,719,722,724,726,728,730,732,734,736,739,741,744,746,749],{"class":63,"line":706},33,[61,708,654],{"class":67},[61,710,332],{"class":278},[61,712,365],{"class":313},[61,714,661],{"class":278},[61,716,664],{"class":67},[61,718,667],{"class":278},[61,720,721],{"class":71},"\"转动XYZ：",[61,723,673],{"class":313},[61,725,338],{"class":71},[61,727,673],{"class":313},[61,729,338],{"class":71},[61,731,673],{"class":313},[61,733,684],{"class":71},[61,735,687],{"class":278},[61,737,738],{"class":313},"3",[61,740,692],{"class":278},[61,742,743],{"class":313},"4",[61,745,692],{"class":278},[61,747,748],{"class":313},"5",[61,750,703],{"class":278},[61,752,754,756,758,760,762,764,766,769,772,775],{"class":63,"line":753},34,[61,755,654],{"class":67},[61,757,332],{"class":278},[61,759,365],{"class":313},[61,761,661],{"class":278},[61,763,664],{"class":67},[61,765,667],{"class":278},[61,767,768],{"class":71},"\"(",[61,770,771],{"class":313},"%ld",[61,773,774],{"class":71}," bytes)\"",[61,776,777],{"class":278},", bytes_size);\n",[61,779,781],{"class":63,"line":780},35,[61,782,783],{"class":95}," \u002F\u002F (void)bytes_size;\n",[61,785,787],{"class":63,"line":786},36,[61,788,789],{"class":278}," }\n",[61,791,793,796,798,800,803,806,808],{"class":63,"line":792},37,[61,794,795],{"class":309}," catch",[61,797,332],{"class":278},[61,799,394],{"class":309},[61,801,802],{"class":67}," std",[61,804,805],{"class":278},"::exception ",[61,807,356],{"class":309},[61,809,810],{"class":278},"ex)\n",[61,812,814],{"class":63,"line":813},38,[61,815,595],{"class":278},[61,817,819,822,824,826,828,830,832,835,838,840,843,846],{"class":63,"line":818},39,[61,820,821],{"class":67}," RCLCPP_ERROR",[61,823,332],{"class":278},[61,825,365],{"class":313},[61,827,661],{"class":278},[61,829,664],{"class":67},[61,831,667],{"class":278},[61,833,834],{"class":71},"\"Error Transmiting from serial port:",[61,836,837],{"class":313},"%s",[61,839,684],{"class":71},[61,841,842],{"class":278},",ex.",[61,844,845],{"class":67},"what",[61,847,848],{"class":278},"());\n",[61,850,852],{"class":63,"line":851},40,[61,853,789],{"class":278},[61,855,857],{"class":63,"line":856},41,[61,858,859],{"class":278}," }\n",[61,861,863],{"class":63,"line":862},42,[61,864,865],{"class":278},"};\n",[16,867,868],{},"STM32部分代码：",[52,870,872],{"className":261,"code":871,"language":263,"meta":57,"style":57}," case CHASSIS_ROS2_CMD: \u002F\u002FROS2接管模式\n \u002F\u002F单位就是m\u002Fs和rad\u002Fs\n this->oriChassis.Speed.vx = cmd_vel_.Linear.Y;\n this->oriChassis.Speed.vy = cmd_vel_.Linear.X;\n this->oriChassis.Speed.vw = - cmd_vel_.Angular.Z;\n break;\n",[20,873,874,885,890,903,915,930],{"__ignoreMap":57},[61,875,876,879,882],{"class":63,"line":64},[61,877,878],{"class":309}," case",[61,880,881],{"class":278}," CHASSIS_ROS2_CMD:",[61,883,884],{"class":95}," \u002F\u002FROS2接管模式\n",[61,886,887],{"class":63,"line":92},[61,888,889],{"class":95}," \u002F\u002F单位就是m\u002Fs和rad\u002Fs\n",[61,891,892,895,898,900],{"class":63,"line":99},[61,893,894],{"class":313}," this",[61,896,897],{"class":278},"->oriChassis.Speed.vx ",[61,899,310],{"class":309},[61,901,902],{"class":278}," cmd_vel_.Linear.Y;\n",[61,904,905,907,910,912],{"class":63,"line":104},[61,906,894],{"class":313},[61,908,909],{"class":278},"->oriChassis.Speed.vy ",[61,911,310],{"class":309},[61,913,914],{"class":278}," cmd_vel_.Linear.X;\n",[61,916,917,919,922,924,927],{"class":63,"line":110},[61,918,894],{"class":313},[61,920,921],{"class":278},"->oriChassis.Speed.vw ",[61,923,310],{"class":309},[61,925,926],{"class":309}," -",[61,928,929],{"class":278}," cmd_vel_.Angular.Z;\n",[61,931,932,935],{"class":63,"line":115},[61,933,934],{"class":309}," break",[61,936,937],{"class":278},";\n",[16,939,940],{},"由于我的STM32以Y为底盘前后方向，ROS2以X为底盘前后方向，所以我这里并不是完全对应的。",[12,942,943],{"id":943},"官方节点",[52,945,947],{"className":54,"code":946,"language":56,"meta":57,"style":57},"ros2 run teleop_twist_keyboard teleop_twist_keyboard\n",[20,948,949],{"__ignoreMap":57},[61,950,951,953,956,959],{"class":63,"line":64},[61,952,68],{"class":67},[61,954,955],{"class":71}," run",[61,957,958],{"class":71}," teleop_twist_keyboard",[61,960,961],{"class":71}," teleop_twist_keyboard\n",[200,963,964,974,985,995,1004,1010,1021,1031,1042,1055,1072,1087],{},[28,965,966,969,970,973],{},[20,967,968],{},"i",": 向前移动（增加线速度 ",[20,971,972],{},"linear.x","）",[28,975,976,978,979,982,983,973],{},[20,977,338],{}," ",[31,980,981],{},"(逗号)"," : 向后移动（减少线速度 ",[20,984,972],{},[28,986,987,990,991,994],{},[20,988,989],{},"j",": 左转（增加角速度 ",[20,992,993],{},"angular.z","，逆时针）",[28,996,997,1000,1001,1003],{},[20,998,999],{},"l",": 右转（减少角速度 ",[20,1002,993],{},"，顺时针）",[28,1005,1006,1009],{},[20,1007,1008],{},"k",": 紧急停止（将线速度和角速度归零）",[28,1011,1012,1015,1016,1018,1019,973],{},[20,1013,1014],{},"u",": 向前左转（组合运动：",[20,1017,972],{}," + ",[20,1020,993],{},[28,1022,1023,1026,1027,1018,1029,973],{},[20,1024,1025],{},"o",": 向前右转（组合运动：",[20,1028,972],{},[20,1030,993],{},[28,1032,1033,1036,1037,1018,1040,973],{},[20,1034,1035],{},"m",": 向后左转（组合运动：",[20,1038,1039],{},"-linear.x",[20,1041,993],{},[28,1043,1044,978,1047,1050,1051,1018,1053,973],{},[20,1045,1046],{},".",[31,1048,1049],{},"(句号)"," : 向后右转（组合运动：",[20,1052,1039],{},[20,1054,993],{},[28,1056,1057,1060,1062,1064,1065,1068,1069,1071],{},[20,1058,1059],{},"w",[31,1061,547],{},[20,1063,214],{},": 增加\u002F减少 ",[31,1066,1067],{},"线速度"," （",[20,1070,972],{}," 的增量步长）",[28,1073,1074,1077,1079,1064,1082,1068,1085,1071],{},[20,1075,1076],{},"a",[31,1078,547],{},[20,1080,1081],{},"d",[31,1083,1084],{},"角速度",[20,1086,993],{},[28,1088,1089,1092,1094,1009],{},[20,1090,1091],{},"s",[31,1093,547],{},[20,1095,1096],{},"S",[16,1098,1099],{},"建议可以使用官方的节点。记得跑之前，先将步长降低。",[12,1101,1102],{"id":1102},"自定义节点",[1104,1105,1106],"h4",{"id":1106},"功能包创建",[52,1108,1110],{"className":54,"code":1109,"language":56,"meta":57,"style":57},"ros2 pkg create cyber_teleop_twist_keyboard --build-type ament_cmake --dependencies rclcpp geometry_msgs --node-name teleop_twist_keyboard\n",[20,1111,1112],{"__ignoreMap":57},[61,1113,1114,1116,1119,1122,1125,1128,1131,1134,1137,1139,1142],{"class":63,"line":64},[61,1115,68],{"class":67},[61,1117,1118],{"class":71}," pkg",[61,1120,1121],{"class":71}," create",[61,1123,1124],{"class":71}," cyber_teleop_twist_keyboard",[61,1126,1127],{"class":313}," --build-type",[61,1129,1130],{"class":71}," ament_cmake",[61,1132,1133],{"class":313}," --dependencies",[61,1135,1136],{"class":71}," rclcpp",[61,1138,397],{"class":71},[61,1140,1141],{"class":313}," --node-name",[61,1143,961],{"class":71},[1104,1145,1146],{"id":1146},"节点主逻辑",[16,1148,1149,1152],{},[20,1150,1151],{},"w\u002Fs\u002Fa\u002Fd","：控制机器人前进\u002F后退\u002F左平移\u002F右平移。",[16,1154,1155,1158],{},[20,1156,1157],{},"q\u002Fe","：控制机器人逆时针\u002F顺时针旋转。",[16,1160,1161,1164],{},[20,1162,1163],{},"i\u002F,","：调整线速度步长（加速\u002F减速步长）。",[16,1166,1167,1170],{},[20,1168,1169],{},"j\u002Fl","：调整角速度步长（减速\u002F加速步长）。",[16,1172,1173,1175],{},[20,1174,1008],{},"：停止所有运动。",[16,1177,1178],{},"下方是一个核心函数，用于检测按键。",[52,1180,1182],{"className":261,"code":1181,"language":263,"meta":57,"style":57},"#include \u003Ctermios.h>\n#include \u003Cunistd.h>\n#include \u003Cfcntl.h>\n\n \u002F\u002F查键盘输入的函数，它不需要按回车就能返回键盘输入。它通过修改终端设置，使得可以直接获取按键的值。\n int kbhit(void)\n {\n struct termios oldt, newt;\n int ch;\n int oldf;\n\n tcgetattr(STDIN_FILENO, &oldt); \u002F\u002F 获取当前终端的设置\n newt = oldt;\n newt.c_lflag &= ~(ICANON | ECHO); \u002F\u002F 禁用缓冲模式和回显\n newt.c_cc[VMIN] = 1;\n newt.c_cc[VTIME] = 0;\n tcsetattr(STDIN_FILENO, TCSANOW, &newt); \u002F\u002F 设置新的终端设置\n\n oldf = fcntl(STDIN_FILENO, F_GETFL, 0);\n fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK); \u002F\u002F 设置为非阻塞模式\n\n ch = getchar(); \u002F\u002F 获取字符\n tcsetattr(STDIN_FILENO, TCSANOW, &oldt); \u002F\u002F 恢复终端设置\n fcntl(STDIN_FILENO, F_SETFL, oldf); \u002F\u002F 恢复文件描述符设置\n\n if(ch != EOF) { \n ungetc(ch, stdin); \u002F\u002F 将字符放回标准输入流\n return 1; \u002F\u002F 如果读取了字符，返回 1\n }\n\n return 0; \u002F\u002F 没有读取到字符\n }\n",[20,1183,1184,1192,1199,1206,1210,1215,1230,1234,1245,1253,1260,1264,1280,1290,1313,1325,1337,1353,1357,1375,1391,1395,1411,1424,1434,1438,1452,1463,1476,1481,1485,1497],{"__ignoreMap":57},[61,1185,1186,1189],{"class":63,"line":64},[61,1187,1188],{"class":309},"#include",[61,1190,1191],{"class":71}," \u003Ctermios.h>\n",[61,1193,1194,1196],{"class":63,"line":92},[61,1195,1188],{"class":309},[61,1197,1198],{"class":71}," \u003Cunistd.h>\n",[61,1200,1201,1203],{"class":63,"line":99},[61,1202,1188],{"class":309},[61,1204,1205],{"class":71}," \u003Cfcntl.h>\n",[61,1207,1208],{"class":63,"line":104},[61,1209,89],{"emptyLinePlaceholder":88},[61,1211,1212],{"class":63,"line":110},[61,1213,1214],{"class":95}," \u002F\u002F查键盘输入的函数，它不需要按回车就能返回键盘输入。它通过修改终端设置，使得可以直接获取按键的值。\n",[61,1216,1217,1220,1223,1225,1228],{"class":63,"line":115},[61,1218,1219],{"class":309}," int",[61,1221,1222],{"class":67}," kbhit",[61,1224,332],{"class":278},[61,1226,1227],{"class":309},"void",[61,1229,415],{"class":278},[61,1231,1232],{"class":63,"line":124},[61,1233,595],{"class":278},[61,1235,1236,1239,1242],{"class":63,"line":136},[61,1237,1238],{"class":309}," struct",[61,1240,1241],{"class":67}," termios",[61,1243,1244],{"class":278}," oldt, newt;\n",[61,1246,1247,1250],{"class":63,"line":147},[61,1248,1249],{"class":309}," int",[61,1251,1252],{"class":278}," ch;\n",[61,1254,1255,1257],{"class":63,"line":158},[61,1256,1249],{"class":309},[61,1258,1259],{"class":278}," oldf;\n",[61,1261,1262],{"class":63,"line":163},[61,1263,89],{"emptyLinePlaceholder":88},[61,1265,1266,1269,1272,1274,1277],{"class":63,"line":171},[61,1267,1268],{"class":67}," tcgetattr",[61,1270,1271],{"class":278},"(STDIN_FILENO, ",[61,1273,356],{"class":309},[61,1275,1276],{"class":278},"oldt);",[61,1278,1279],{"class":95}," \u002F\u002F 获取当前终端的设置\n",[61,1281,1282,1285,1287],{"class":63,"line":181},[61,1283,1284],{"class":278}," newt ",[61,1286,310],{"class":309},[61,1288,1289],{"class":278}," oldt;\n",[61,1291,1292,1295,1298,1301,1304,1307,1310],{"class":63,"line":191},[61,1293,1294],{"class":278}," newt.c_lflag ",[61,1296,1297],{"class":309},"&=",[61,1299,1300],{"class":309}," ~",[61,1302,1303],{"class":278},"(ICANON ",[61,1305,1306],{"class":309},"|",[61,1308,1309],{"class":278}," ECHO);",[61,1311,1312],{"class":95}," \u002F\u002F 禁用缓冲模式和回显\n",[61,1314,1315,1318,1320,1323],{"class":63,"line":467},[61,1316,1317],{"class":278}," newt.c_cc[VMIN] ",[61,1319,310],{"class":309},[61,1321,1322],{"class":313}," 1",[61,1324,937],{"class":278},[61,1326,1327,1330,1332,1335],{"class":63,"line":487},[61,1328,1329],{"class":278}," newt.c_cc[VTIME] ",[61,1331,310],{"class":309},[61,1333,1334],{"class":313}," 0",[61,1336,937],{"class":278},[61,1338,1339,1342,1345,1347,1350],{"class":63,"line":502},[61,1340,1341],{"class":67}," tcsetattr",[61,1343,1344],{"class":278},"(STDIN_FILENO, TCSANOW, ",[61,1346,356],{"class":309},[61,1348,1349],{"class":278},"newt);",[61,1351,1352],{"class":95}," \u002F\u002F 设置新的终端设置\n",[61,1354,1355],{"class":63,"line":513},[61,1356,89],{"emptyLinePlaceholder":88},[61,1358,1359,1362,1364,1367,1370,1372],{"class":63,"line":524},[61,1360,1361],{"class":278}," oldf ",[61,1363,310],{"class":309},[61,1365,1366],{"class":67}," fcntl",[61,1368,1369],{"class":278},"(STDIN_FILENO, F_GETFL, ",[61,1371,496],{"class":313},[61,1373,1374],{"class":278},");\n",[61,1376,1377,1380,1383,1385,1388],{"class":63,"line":535},[61,1378,1379],{"class":67}," fcntl",[61,1381,1382],{"class":278},"(STDIN_FILENO, F_SETFL, oldf ",[61,1384,1306],{"class":309},[61,1386,1387],{"class":278}," O_NONBLOCK);",[61,1389,1390],{"class":95}," \u002F\u002F 设置为非阻塞模式\n",[61,1392,1393],{"class":63,"line":556},[61,1394,89],{"emptyLinePlaceholder":88},[61,1396,1397,1400,1402,1405,1408],{"class":63,"line":561},[61,1398,1399],{"class":278}," ch ",[61,1401,310],{"class":309},[61,1403,1404],{"class":67}," getchar",[61,1406,1407],{"class":278},"();",[61,1409,1410],{"class":95}," \u002F\u002F 获取字符\n",[61,1412,1413,1415,1417,1419,1421],{"class":63,"line":581},[61,1414,1341],{"class":67},[61,1416,1344],{"class":278},[61,1418,356],{"class":309},[61,1420,1276],{"class":278},[61,1422,1423],{"class":95}," \u002F\u002F 恢复终端设置\n",[61,1425,1426,1428,1431],{"class":63,"line":586},[61,1427,1379],{"class":67},[61,1429,1430],{"class":278},"(STDIN_FILENO, F_SETFL, oldf);",[61,1432,1433],{"class":95}," \u002F\u002F 恢复文件描述符设置\n",[61,1435,1436],{"class":63,"line":592},[61,1437,89],{"emptyLinePlaceholder":88},[61,1439,1440,1443,1446,1449],{"class":63,"line":598},[61,1441,1442],{"class":309}," if",[61,1444,1445],{"class":278},"(ch ",[61,1447,1448],{"class":309},"!=",[61,1450,1451],{"class":278}," EOF) { \n",[61,1453,1454,1457,1460],{"class":63,"line":618},[61,1455,1456],{"class":67}," ungetc",[61,1458,1459],{"class":278},"(ch, stdin);",[61,1461,1462],{"class":95}," \u002F\u002F 将字符放回标准输入流\n",[61,1464,1465,1468,1470,1473],{"class":63,"line":624},[61,1466,1467],{"class":309}," return",[61,1469,1322],{"class":313},[61,1471,1472],{"class":278},";",[61,1474,1475],{"class":95}," \u002F\u002F 如果读取了字符，返回 1\n",[61,1477,1478],{"class":63,"line":630},[61,1479,1480],{"class":278}," }\n",[61,1482,1483],{"class":63,"line":636},[61,1484,89],{"emptyLinePlaceholder":88},[61,1486,1487,1490,1492,1494],{"class":63,"line":645},[61,1488,1489],{"class":309}," return",[61,1491,1334],{"class":313},[61,1493,1472],{"class":278},[61,1495,1496],{"class":95}," \u002F\u002F 没有读取到字符\n",[61,1498,1499],{"class":63,"line":651},[61,1500,789],{"class":278},[16,1502,1503],{},"以下代码未经验证，谨慎使用，本人直接采用了官方的节点，并未使用自定义节点。",[52,1505,1507],{"className":261,"code":1506,"language":263,"meta":57,"style":57},"#include \"rclcpp\u002Frclcpp.hpp\"\n#include \"geometry_msgs\u002Fmsg\u002Ftwist.hpp\"\n#include \u003Cgeometry_msgs\u002Fmsg\u002Fdetail\u002Ftwist__struct.hpp>\n#include \u003Ctermios.h>\n#include \u003Cunistd.h>\n#include \u003Cfcntl.h>\n#include \"cyber_teleop_twist_keyboard\u002Fstruct_typedef.h\"\n\nclass TeleopTwistKeyboardNode: public rclcpp::Node\n{\n public:\n TeleopTwistKeyboardNode():Node(\"CyberTeleopTwistKeyboardNode_cpp\")\n {\n RCLCPP_INFO(this->get_logger(),\"TeleopTwistKeyboardNode Running!\");\n RCLCPP_INFO(this->get_logger(),\"键盘控制机器人节点已启动！\");\n \u002F\u002F 创建一个发布者，类型是 geometry_msgs\u002Fmsg\u002FTwist，发布到 \"cmd_vel\" 话题\n keyboard_control_pub_ = this->create_publisher\u003Cgeometry_msgs::msg::Twist>(\"cmd_vel\", 10);\n\n \u002F\u002F 定时器，周期性调用发布函数\n keyboard_control_pub_timer_ = this->create_wall_timer(\n std::chrono::milliseconds(100), \n std::bind(&TeleopTwistKeyboardNode::cmd_vel_publish_timer_callback, this)\n );\n\n }\n\n private:\n rclcpp::Publisher\u003Cgeometry_msgs::msg::Twist>::SharedPtr keyboard_control_pub_;\n rclcpp::TimerBase::SharedPtr keyboard_control_pub_timer_;\n\n \u002F\u002F 步长\n fp64 linear_step_ = 0.1;\n fp64 angular_step_ = 0.1;\n\n \u002F\u002F 当前线速度和角速度\n fp64 linear_speed_ = 0.0;\n fp64 angular_speed_ = 0.0;\n\n \u002F\u002F 最大速度限制\n fp64 max_linear_speed_ = 0.5;\n fp64 max_angular_speed_ = 0.2;\n\n \u002F\u002F 最小速度限制\n fp64 min_linear_speed_ = 0.0;\n fp64 min_angular_speed_ = 0.0;\n\n geometry_msgs::msg::Twist cmd_msg;\n\n \u002F\u002F查键盘输入的函数，它不需要按回车就能返回键盘输入。它通过修改终端设置，使得可以直接获取按键的值。\n int kbhit(void)\n {\n struct termios oldt, newt;\n int ch;\n int oldf;\n\n tcgetattr(STDIN_FILENO, &oldt); \u002F\u002F 获取当前终端的设置\n newt = oldt;\n newt.c_lflag &= ~(ICANON | ECHO); \u002F\u002F 禁用缓冲模式和回显\n newt.c_cc[VMIN] = 1;\n newt.c_cc[VTIME] = 0;\n tcsetattr(STDIN_FILENO, TCSANOW, &newt); \u002F\u002F 设置新的终端设置\n\n oldf = fcntl(STDIN_FILENO, F_GETFL, 0);\n fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK); \u002F\u002F 设置为非阻塞模式\n\n ch = getchar(); \u002F\u002F 获取字符\n tcsetattr(STDIN_FILENO, TCSANOW, &oldt); \u002F\u002F 恢复终端设置\n fcntl(STDIN_FILENO, F_SETFL, oldf); \u002F\u002F 恢复文件描述符设置\n\n if(ch != EOF) { \n ungetc(ch, stdin); \u002F\u002F 将字符放回标准输入流\n return 1; \u002F\u002F 如果读取了字符，返回 1\n }\n\n return 0; \u002F\u002F 没有读取到字符\n }\n\n void cmd_vel_publish_timer_callback()\n {\n\n cmd_msg.linear.y = 0.0;\n cmd_msg.linear.x = 0.0;\n cmd_msg.angular.z = 0.0;\n\n \u002F\u002F 当有键盘输入时，处理它\n if (kbhit()) \n {\n char key = getchar(); \u002F\u002F 获取键盘输入的字符\n\n if(key == EOF)\n {\n return;\n }\n RCLCPP_INFO(this->get_logger(),\"按下了:%c\",key);\n \u002F\u002F 根据按键决定机器人运动方向\n switch(key)\n {\n case 'w': \u002F\u002F 前进\n cmd_msg.linear.y = linear_speed_;\n cmd_msg.linear.x = 0.0;\n cmd_msg.angular.z = 0.0;\n break;\n case 's': \u002F\u002F 后退\n cmd_msg.linear.y = - linear_speed_;\n cmd_msg.linear.x = 0.0;\n cmd_msg.angular.z = 0.0;\n break;\n case 'a': \u002F\u002F 左平移\n cmd_msg.linear.y = 0.0;\n cmd_msg.linear.x = - linear_speed_;\n cmd_msg.angular.z = 0.0;\n break;\n case 'd': \u002F\u002F 右平移\n cmd_msg.linear.y = 0.0;\n cmd_msg.linear.x = linear_speed_;\n cmd_msg.angular.z = 0.0;\n break;\n case 'q': \u002F\u002F 逆时针旋转\n cmd_msg.linear.y = 0.0;\n cmd_msg.linear.x = 0.0;\n cmd_msg.angular.z = - angular_speed_;\n break;\n case 'e': \u002F\u002F 顺时针旋转\n cmd_msg.angular.z = angular_speed_;\n break;\n case 'i': \u002F\u002F 增加线速度\n linear_speed_ = std::clamp(linear_speed_ + linear_step_, min_linear_speed_, max_linear_speed_);\n RCLCPP_INFO(this->get_logger(), \"Linear increased to: %.2f\", linear_speed_);\n break;\n case ',': \u002F\u002F 减小线速度\n linear_speed_ = std::clamp(linear_speed_ - linear_step_, min_linear_speed_, max_linear_speed_);\n RCLCPP_INFO(this->get_logger(), \"Linear decreased to: %.2f\", linear_speed_);\n break;\n case 'l': \u002F\u002F 增加角速度\n angular_speed_ = std::clamp(angular_speed_ + angular_step_, min_angular_speed_, max_angular_speed_);\n RCLCPP_INFO(this->get_logger(), \"Angular increased to: %.2f\", angular_speed_);\n break;\n case 'j': \u002F\u002F 减小角速度\n angular_speed_ = std::clamp(angular_speed_ - angular_step_, min_angular_speed_, max_angular_speed_);\n RCLCPP_INFO(this->get_logger(), \"Angular decreased to: %.2f\", angular_speed_);\n break;\n case 'k': \u002F\u002F 停止\n cmd_msg.linear.y = 0.0;\n cmd_msg.linear.x = 0.0;\n cmd_msg.angular.z = 0.0;\n break;\n default:\n RCLCPP_WARN(this->get_logger(), \"Unknown key pressed!\");\n }\n }\n keyboard_control_pub_->publish(cmd_msg);\n }\n\n};\n\nint main(int argc, char ** argv)\n{\n rclcpp::init(argc,argv);\n\n auto node = std::make_shared\u003CTeleopTwistKeyboardNode>();\n\n rclcpp::spin(node);\n\n rclcpp::shutdown();\n return 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