ROS2中使用Gtes示例的詳細(xì)講解

阿里云官方鏡像站：ROS2源
https://developer.aliyun.com/mirror/?utm_content=g_1000303593

一、準(zhǔn)備工作

創(chuàng)建工作空間，即編寫代碼的位置mkdir -p dev_ws/src

進(jìn)入 dev_ws/src 路徑下：

先創(chuàng)建依賴包 tutorial_interfaces：

ros2 pkg create --build-type ament_cmake tutorial_interfaces

進(jìn)入 dev_ws/src/tutorial_interfaces ，然后創(chuàng)建msg和srv目錄存放.msg文件和.srv文件：

mkdir msg

mkdir srv

進(jìn)入dev_ws/src/tutorial_interface/msg目錄，新建 Num.msg文件：

int64 num

進(jìn)入 dev_ws/src/tutorial_interface/srv目錄，新建 AddThreeInts.srv文件：

int64 a
int64 b
int64 c
---
int64 sum

然后編輯CMakeLists.txt文件：

find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Num.msg"
  "srv/AddThreeInts.srv"
 )

繼續(xù)編輯package.xml：

rosidl_default_generators

rosidl_default_runtime

rosidl_interface_packages

最后回到工作空間路徑下編譯構(gòu)建 tutorial_interfaces 包：

colcon build --packages-select tutorial_interfaces

以上操作步驟詳細(xì)鏈接：

Creating custom ROS 2 msg and srv files — ROS 2 Documentation: Galactic documentation

然后在工作空間的src路徑下創(chuàng)建自己的包 service，并指定依賴的包：

ros2 pkg create --build-type ament_cmake service --dependencies rclcpp tutorial_interfaces

在 dev_ws/src/service/src目錄下新建service.cpp

#include "rclcpp/rclcpp.hpp"
#include "tutorial_interfaces/srv/add_three_ints.hpp"                                        // CHANGE

#include 

void add(const std::shared_ptr request,     // CHANGE
          std::shared_ptr       response)  // CHANGE
{
  response->sum = request->a + request->b + request->c;                                      // CHANGE
  RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Incoming request\na: %ld" " b: %ld" " c: %ld",  // CHANGE
                request->a, request->b, request->c);                                         // CHANGE
  RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "sending back response: [%ld]", (long int)response->sum);
}

int main(int argc, char **argv)
{
  rclcpp::init(argc, argv);

  std::shared_ptr node = rclcpp::Node::make_shared("add_three_ints_server");   // CHANGE

  rclcpp::Service::SharedPtr service =               // CHANGE
    node->create_service("add_three_ints",  &add);   // CHANGE

  RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Ready to add three ints.");                     // CHANGE

  rclcpp::spin(node);
  rclcpp::shutdown();
}

二、測試代碼編寫

進(jìn)入工作空間的src路徑下，執(zhí)行下面命令生成待測模塊client：

ros2 pkg create --build-type ament_cmake client --dependencies rclcpp tutorial_interfaces

進(jìn)入client路徑下，分別新建src，test目錄，include目錄默認(rèn)已經(jīng)存在。

include目錄下文件：client.h和params.h

// client.h
#ifndef CLIENT_H
#define CLIENT_H

class ClientHandler
{
    public:
        ClientHandler();
        ~ClientHandler();
        bool sendParams(int argc, char **argv);
};
#endif

// params.h
#ifndef PARAMS_H
#define PARAMS_H

extern int my_argc;
extern char** my_argv;

#endif

src目錄下文件：client.cpp和main.cpp

// client.cpp
#include "rclcpp/rclcpp.hpp"
#include "tutorial_interfaces/srv/add_three_ints.hpp"                                    
#include "../include/client.h"

#include 
#include 
#include 
#include
using namespace std;

using namespace std::chrono_literals;

// 構(gòu)造函數(shù)
ClientHandler::ClientHandler(){

}

// 析構(gòu)函數(shù)
ClientHandler::~ClientHandler(){

}


// 普通函數(shù)——發(fā)送參數(shù)
bool ClientHandler::sendParams(int argc, char **argv)
{
  rclcpp::init(argc, argv);

  if (argc != 4) {
      RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "usage: add_three_ints_client X Y Z");      
      return false;
  }

  std::shared_ptr node = rclcpp::Node::make_shared("add_three_ints_client");  
  rclcpp::Client::SharedPtr client =               
    node->create_client("add_three_ints");         

  auto request = std::make_shared();      
  request->a = atoll(argv[1]);
  request->b = atoll(argv[2]);
  request->c = atoll(argv[3]);                                                             

  while (!client->wait_for_service(1s)) {
    if (!rclcpp::ok()) {
      RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Interrupted while waiting for the service. Exiting.");
      return false;
    }
    RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "service not available, waiting again...");
  }

  auto result = client->async_send_request(request);
  // Wait for the result.
  if (rclcpp::spin_until_future_complete(node, result) ==
    rclcpp::FutureReturnCode::SUCCESS)
  {
    RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Sum: %ld", result.get()->sum);
  } else {
    RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Failed to call service add_three_ints");
  }

  rclcpp::shutdown();
  return true;
}

// main.cpp
#include "../include/client.h"

int main(int argc, char **argv){
    // 注意這里: C++ 編譯器把不帶參數(shù)的構(gòu)造函數(shù)優(yōu)先認(rèn)為是一個函數(shù)聲明
    ClientHandler client{};
    client.sendParams(argc, argv);
}

test目錄下文件：clientTest.cpp和main.cpp

// clientTest.cpp
#include "gtest/gtest.h"

#include "../include/client.h"
#include "../include/params.h"

TEST(ClientHandler, sendParams)
{
    // 測試的時候的交互方式也不能改變，既然client實(shí)際的效果是在命令行輸入?yún)?shù),
    // 那這里也是這樣的效果
    ClientHandler client{};
    EXPECT_EQ(true, client.sendParams(my_argc, my_argv));
}

// main.cpp
#include  
// #include 

int my_argc;
char** my_argv;

int main(int argc, char** argv) {
    // ::testing::InitGoogleMock(&argc, argv);
    // 注意這里使用的是Gtest，不是Gmock
    ::testing::InitGoogleTest(&argc, argv); 
    // Runs all tests using Google Test.
    my_argc = argc;
    my_argv = argv;
    return RUN_ALL_TESTS();
}

CMakeLists.txt文件：

cmake_minimum_required(VERSION 3.8)
project(client)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(tutorial_interfaces REQUIRED)

set(SRC
  src/client.cpp
  src/main.cpp
)

add_executable(client 
              ${SRC}
              )
ament_target_dependencies(client
  rclcpp tutorial_interfaces)

# 5. 添加當(dāng)前項(xiàng)目中的頭文件 注意有順序的要求，不能亂
target_include_directories(client
    PRIVATE 
    ${PROJECT_SOURCE_DIR}/include
)

# 如果是測試代碼
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # 加入gtest包
  find_package(ament_cmake_gtest REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  # set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  # set(ament_cmake_cpplint_FOUND TRUE)
  set(TEST
      test/main.cpp
      test/clientTest.cpp
    )
  # 生成加入gtest的test執(zhí)行文件。${PROJECT_NAME}_test為自定義的test執(zhí)行文件名稱；test/demo_test.cpp為test源碼路徑
  # 注意這里導(dǎo)包的時候，不再需要將 .h 文件導(dǎo)入進(jìn)來，因?yàn)樵?client.cpp中已經(jīng)導(dǎo)入了我們需要使用到的.h文件
  # 另外，注意這里不能導(dǎo)入開發(fā)代碼中的 main.cpp，因?yàn)橐呀?jīng)有了一個測試的main.cpp
  ament_add_gtest(${PROJECT_NAME}_test ${TEST} src/client.cpp)
  # 務(wù)必注意這里需要添加的依賴包
  ament_target_dependencies(${PROJECT_NAME}_test rclcpp tutorial_interfaces)

  install(TARGETS
          ${PROJECT_NAME}_test
          # 將生成的test執(zhí)行文件安裝到DESTINATION后的路徑下
          DESTINATION lib/${PROJECT_NAME})                                       
  ament_lint_auto_find_test_dependencies()
endif()

install(TARGETS
  client
  DESTINATION lib/${PROJECT_NAME})

# 設(shè)置編譯構(gòu)建類型為 調(diào)試 模式
set(CMAKE_BUILD_TYPE Debug)   
# 生成覆蓋率文件
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")

ament_package()

package.xml文件：

  client
  0.0.0
  TODO: Package description
  zhi
  TODO: License declaration

  ament_cmake

  rclcpp
  tutorial_interfaces

  ament_lint_auto
  ament_lint_common

  
    ament_cmake
  

然后回到工作空間執(zhí)行編譯構(gòu)建命令：

colcon build --packages-select client

進(jìn)入到 dev_ws/build/client路徑下，找到client_test可執(zhí)行文件即為生成的測試文件

在另外一個終端啟動service包：

ros2 run cpp_srvcli server

執(zhí)行

./client_test 23 3 4

運(yùn)行測試文件即可。

生成覆蓋率的腳本：

#!/usr/bin/bash
echo "begin gen coverage file ..."
lcov --no-external --capture --initial --directory . --output-file /home/zhi/ros2-gtest-gmock/info/ros2_base.info
cd /home/zhi/ros2-gtest-gmock/build/client;./client_test 45 56 56;cd /home/zhi/ros2-gtest-gmock
# 注意下面的=號兩側(cè)是不可以有空格的，這是個大坑
current_path=$(pwd)
echo "當(dāng)前目錄是:" $current_path
lcov --no-external --capture --directory . --output-file /home/zhi/ros2-gtest-gmock/info/ros2.info
lcov --add-tracefile /home/zhi/ros2-gtest-gmock/info/ros2_base.info --add-tracefile /home/zhi/ros2-gtest-gmock/info/ros2.info --output-file /home/zhi/ros2-gtest-gmock/info/ros2_coverage.info
mkdir -p coverage && genhtml /home/zhi/ros2-gtest-gmock/info/ros2_coverage.info --output-directory coverage

本文轉(zhuǎn)自：https://www.cnblogs.com/huaibin/p/15423963.html

編輯：fqj