3 분 소요

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참고 경로

/opt/ros/foxy/share

거북이 실행

1번 터미널에서

ros2 run turtlesim turtlesim_node

거북이 키보드로 움직이기

2번 터미널에서

ros2 run turtlesim turtle_teleop_key

거북이 원격 조정 코드 만들기

ros2 pkg create turtle_pkg --build-type ament_python

키보드 입력을 받기위한 사용자 라이브러리

cd turtle_pkg/turtle_pkg 로 가서 getchar.py

import os, time, sys, termios, atexit, tty
from select import select
  
# class for checking keyboard input
class Getchar:
    def __init__(self):
        # Save the terminal settings
        self.fd = sys.stdin.fileno()
        self.new_term = termios.tcgetattr(self.fd)
        self.old_term = termios.tcgetattr(self.fd)
  
        # New terminal setting unbuffered
        self.new_term[3] = (self.new_term[3] & ~termios.ICANON & ~termios.ECHO)
        termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.new_term)
  
        # Support normal-terminal reset at exit
        atexit.register(self.set_normal_term)      
      
    def set_normal_term(self):
        termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term)
  
    def getch(self):        # get 1 byte from stdin
        """ Returns a keyboard character after getch() has been called """
        return sys.stdin.read(1)
  
    def chk_stdin(self):    # check keyboard input
        """ Returns True if keyboard character was hit, False otherwise. """
        dr, dw, de = select([sys.stdin], [], [], 0)
        return dr

cd turtle_pkg 에서 remote_turtle.py

import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist
from .getchar import Getchar


msg = '''
Remote Control Turtle
'w' for forward
's' for backward
'a' for turn left
'd' for turn right
' ' for stop move
'Q' for terminate code
'''

class Remote_Turtle(Node):

    def __init__(self):
        super().__init__('remote_turtle')
        self.pub = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
        
def main(args=None):
    rclpy.init(args=args)

    node = Remote_Turtle()
    kb = Getchar()
    tw = Twist()
    
    #pub = node.create_publisher(Twist, '/turtle1/cmd_vel', 10)
    
    try:
        print(msg)
        while rclpy.ok():

            key = kb.getch()

            if key == 'w':
                print("forward")
                tw.linear.x = tw.angular.z = 0.0
                tw.linear.x = 2.0
            elif key == 's':
                print("backward")
                tw.linear.x = tw.angular.z = 0.0
                tw.linear.x = -2.0
            elif key == 'a':
                print("turn left")
                tw.linear.x = tw.angular.z = 0.0
                tw.angular.z = 2.0
            elif key == 'd':
                print("turn right")
                tw.linear.x = tw.angular.z = 0.0
                tw.angular.z = -2.0
            elif key == ' ':
                print("stop")
                tw.linear.x = tw.angular.z = 0.0
            elif key == 'Q':
                print("Bye~")
                break
            else:
                pass

            node.pub.publish(tw)
            
            # 위에 29번째 줄(pub = self.create_publisher(Twist, ‘/turtle1/cmd_vel’, 10))을 주석해제했을 때는 위의 내용을 주석하고, 아래의 줄 내용을 주석해제 한다.
            #pub.publish(tw)
            
    except KeyboardInterrupt:
        # Destroy the node explicitly
        # (optional - otherwise it will be done automatically
        # when the garbage collector destroys the node object)
        node.destroy_node()
        rclpy.shutdown()


if __name__ == '__main__':
    main()

cd .. 해서 setup.py에 ‘remote_turtle = turtle_pkg.remote_turtle:main’, 넣기

entry_points={
        'console_scripts': [
            'remote_turtle = turtle_pkg.remote_turtle:main',
        ],
    },

cd turtle_pkg 가서 move_circle.py

거북이 원 그리기

import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist


class MoveCircle(Node):

    def __init__(self):
        super().__init__('move_circle')
        self.pub = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
        
def main(args=None):
    rclpy.init(args=args)

    node = MoveCircle()

    tw = Twist()
    tw.linear.x = 2.0
    tw.angular.z = 2.0

    try:
        while rclpy.ok():
            node.pub.publish(tw)
            
    except KeyboardInterrupt:
        node.destroy_node()
        rclpy.shutdown()


if __name__ == '__main__':
    main()

cd .. 해서 setup.py 에 ‘move_circle = turtle_pkg.move_circle:main’,

entry_points={
        'console_scripts': [
                'remote_turtle = turtle_pkg.remote_turtle:main',
                'move_circle = turtle_pkg.move_circle:main',
        ],
    },

cd turtle_pkg 해서 move_circle_2.py

거북이 입력 받아 원 그리기

import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist


class MoveCircle(Node):

    def __init__(self):
        super().__init__('move_circle_2')
        self.pub = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
        
def main(args=None):
    rclpy.init(args=args)

    node = MoveCircle()

    tw = Twist()
    tw.linear.x = float(input("input linear.x : "))
    tw.angular.z = float(input("input angular.z : "))

    try:
        while rclpy.ok():
            node.pub.publish(tw)
            
    except KeyboardInterrupt:
        node.destroy_node()
        rclpy.shutdown()


if __name__ == '__main__':
    main()

cd .. 해서 setup.py 에 ‘move_circle = turtle_pkg.move_circle:main’,

entry_points={
        'console_scripts': [
            'remote_turtle = turtle_pkg.remote_turtle:main',
            'move_circle = turtle_pkg.move_circle:main',
            'move_circle_2 = turtle_pkg.move_circle_2:main',
        ],
    },

cd turtle_pkg 해서 get_turtle_pose.py

거북이 위치값 받기

import rclpy
from rclpy.node import Node
from turtlesim.msg import Pose


class SubTurtlePose(Node):


   def __init__(self):
       super().__init__("get_turtle_pose")
       self.create_subscription(
           Pose, "/turtle1/pose", self.get_pose, 10
       )
       self.turtle_pose = Pose()


   def get_pose(self, msg):
       self.turtle_pose = msg
       # print("x = %s, y = %s, th = %s" % (msg.x, msg.y, msg.theta))




def main(args=None):
   rclpy.init(args=args)
  
   node = SubTurtlePose()
   # rclpy.spin(node)
  
   try:
       while rclpy.ok():
           rclpy.spin_once(node, timeout_sec=0.1)
           print("x = %s, y = %s, th = %s" % (node.turtle_pose.x, node.turtle_pose.y, node.turtle_pose.theta))


   except KeyboardInterrupt:
       node.destroy_node()
       rclpy.shutdown()


if __name__ == '__main__':
   main()

cd .. 해서 setup.py에 ‘get_turtle_pose = turtle_pkg.get_turtle_pose:main’, 넣기

entry_points={
       'console_scripts': [
               'remote_turtle = turtle_pkg.remote_turtle:main',
               'move_circle = turtle_pkg.move_circle:main',
               'move_circle_2 = turtle_pkg.move_circle_2:main',
               'get_turtle_pose = turtle_pkg.get_turtle_pose:main',
       ],
   },

ROS2 usb cam 체험

sudo apt install ros-foxy-usb-cam
sudo apt install ros-foxy-rqt*

아래와 같이 하면 노트북 캠에 불빛이 남

ros2 run usb_cam usb_cam_node_exe

새 터미널에서 아래와 같이 하면 캠 화면이 보임

rqt

근데 난 안됨. 무슨 설정을 더 해야 하는 건가?

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