概述
来源: ROS2与C++入门教程-创建和使用插件
说明:
- 学习使用pluginlib创建和加载一个简单的插件
步骤:
- 安装pluginlib
sudo apt-get install ros-foxy-pluginlib
- 创建一个新包
cd dev_ws/src
ros2 pkg create --build-type ament_cmake polygon_base --dependencies pluginlib --node-name area_node
- 编辑文件
vim dev_ws/src/polygon_base/include/polygon_base/regular_polygon.hpp
- 添加以下内容
#ifndef POLYGON_BASE_REGULAR_POLYGON_HPP
#define POLYGON_BASE_REGULAR_POLYGON_HPP
namespace polygon_base
{
class RegularPolygon
{
public:
virtual void initialize(double side_length) = 0;
virtual double area() = 0;
virtual ~RegularPolygon(){}
protected:
RegularPolygon(){}
};
} // namespace polygon_base
#endif // POLYGON_BASE_REGULAR_POLYGON_HPP
- 在dev_ws/src/polygon_base/CMakeLists.txt添加。在ament_target_dependencies命令后添加以下行
install(
DIRECTORY include/
DESTINATION include
)
- 在命令之前添加此ament_package命令
ament_export_include_directories(
include
)
- 创建插件包
cd dev_ws/src
ros2 pkg create --build-type ament_cmake polygon_plugins --dependencies polygon_base pluginlib --library-name polygon_plugins
- 编辑文件
vim dev_ws/src/polygon_plugins/src/polygon_plugins.cpp
#include <polygon_base/regular_polygon.hpp>
#include <cmath>
namespace polygon_plugins
{
class Square : public polygon_base::RegularPolygon
{
public:
void initialize(double side_length) override
{
side_length_ = side_length;
}
double area() override
{
return side_length_ * side_length_;
}
protected:
double side_length_;
};
class Triangle : public polygon_base::RegularPolygon
{
public:
void initialize(double side_length) override
{
side_length_ = side_length;
}
double area() override
{
return 0.5 * side_length_ * getHeight();
}
double getHeight()
{
return sqrt((side_length_ * side_length_) - ((side_length_ / 2) * (side_length_ / 2)));
}
protected:
double side_length_;
};
}
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(polygon_plugins::Square, polygon_base::RegularPolygon)
PLUGINLIB_EXPORT_CLASS(polygon_plugins::Triangle, polygon_base::RegularPolygon)
- 创建XML文件,在dev_ws/src/polygon_plugins/plugins.xml添加以下内容
<library path="polygon_plugins">
<class type="polygon_plugins::Square" base_class_type="polygon_base::RegularPolygon">
<description>This is a square plugin.</description>
</class>
<class type="polygon_plugins::Triangle" base_class_type="polygon_base::RegularPolygon">
<description>This is a triangle plugin.</description>
</class>
</library>
- 在dev_ws/src/polygon_plugins/CMakeLists.txt添加以下内容
add_library(polygon_plugins src/polygon_plugins.cpp)
target_include_directories(polygon_plugins PUBLIC
<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
<INSTALL_INTERFACE:include>)
ament_target_dependencies(
polygon_plugins
polygon_base
pluginlib
)
pluginlib_export_plugin_description_file(polygon_base plugins.xml)
install(
TARGETS polygon_plugins
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
- 在ament_package命令之前,添加
ament_export_libraries(
polygon_plugins
)
ament_export_targets(
export_${PROJECT_NAME}
)
- 使用插件。在dev_ws/src/polygon_base/src/area_node.cpp添加以下内容
#include <pluginlib/class_loader.hpp>
#include <polygon_base/regular_polygon.hpp>
int main(int argc, char** argv)
{
// To avoid unused parameter warnings
(void) argc;
(void) argv;
pluginlib::ClassLoader<polygon_base::RegularPolygon> poly_loader("polygon_base", "polygon_base::RegularPolygon");
try
{
std::shared_ptr<polygon_base::RegularPolygon> triangle = poly_loader.createSharedInstance("polygon_plugins::Triangle");
triangle->initialize(10.0);
std::shared_ptr<polygon_base::RegularPolygon> square = poly_loader.createSharedInstance("polygon_plugins::Square");
square->initialize(10.0);
printf("Triangle area: %.2fn", triangle->area());
printf("Square area: %.2fn", square->area());
}
catch(pluginlib::PluginlibException& ex)
{
printf("The plugin failed to load for some reason. Error: %sn", ex.what());
}
return 0;
}
- 构建和运行
cd dev_ws
colcon build --packages-select polygon_base polygon_plugins
. install/setup.bash
- 运行节点
ros2 run polygon_base area_node
- 运行结果
Triangle area: 43.30
Square area: 100.00
最后
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