ROS2中使用Gtes示例

hjavn發表於2021-11-12
ROS

阿里雲官方映象站：ROS2源
developer.aliyun.com/mirror/?utm_c...

建立工作空間，即編寫程式碼的位置mkdir -p dev_ws/src

進入 dev_ws/src 路徑下：

先建立依賴包 tutorial_interfaces：

ros2 pkg create --build-type ament_cmake tutorial_interfaces

進入 dev_ws/src/tutorial_interfaces ，然後建立msg和srv目錄存放.msg檔案和.srv檔案：

mkdir msg

mkdir srv

進入dev_ws/src/tutorial_interface/msg目錄，新建 Num.msg檔案：

int64 num

進入 dev_ws/src/tutorial_interface/srv目錄，新建 AddThreeInts.srv檔案：

int64 a
int64 b
int64 c
---
int64 sum

然後編輯CMakeLists.txt檔案：

find_package(rosidl_default_generators REQUIRED)

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

繼續編輯package.xml：

<build_depend>rosidl_default_generators</build_depend>

<exec_depend>rosidl_default_runtime</exec_depend>

<member_of_group>rosidl_interface_packages</member_of_group>

最後回到工作空間路徑下編譯構建 tutorial_interfaces 包：

colcon build --packages-select tutorial_interfaces

以上操作步驟詳細連結：

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

然後在工作空間的src路徑下建立自己的包 service，並指定依賴的包：

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 <memory>

void add(const std::shared_ptr<tutorial_interfaces::srv::AddThreeInts::Request> request,     // CHANGE
          std::shared_ptr<tutorial_interfaces::srv::AddThreeInts::Response>       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<rclcpp::Node> node = rclcpp::Node::make_shared("add_three_ints_server");   // CHANGE

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

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

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

進入工作空間的src路徑下，執行下面命令生成待測模組client：

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

進入client路徑下，分別新建src，test目錄，include目錄預設已經存在。

include目錄下檔案：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目錄下檔案：client.cpp和main.cpp

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

#include <chrono>
#include <cstdlib>
#include <memory>
#include<vector>
using namespace std;

using namespace std::chrono_literals;

// 建構函式
ClientHandler::ClientHandler(){

}

// 解構函式
ClientHandler::~ClientHandler(){

}


// 普通函式——傳送引數
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<rclcpp::Node> node = rclcpp::Node::make_shared("add_three_ints_client");  
  rclcpp::Client<tutorial_interfaces::srv::AddThreeInts>::SharedPtr client =               
    node->create_client<tutorial_interfaces::srv::AddThreeInts>("add_three_ints");         

  auto request = std::make_shared<tutorial_interfaces::srv::AddThreeInts::Request>();      
  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){
    // 注意這裡: C++ 編譯器把不帶引數的建構函式優先認為是一個函式宣告
    ClientHandler client{};
    client.sendParams(argc, argv);
}

test目錄下檔案：clientTest.cpp和main.cpp

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

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

TEST(ClientHandler, sendParams)
{
    // 測試的時候的互動方式也不能改變，既然client實際的效果是在命令列輸入引數,
    // 那這裡也是這樣的效果
    ClientHandler client{};
    EXPECT_EQ(true, client.sendParams(my_argc, my_argv));
}
// main.cpp
#include <gtest/gtest.h> 
// #include <gmock/gmock.h>

int my_argc;
char** my_argv;

int main(int argc, char** argv) {
    // ::testing::InitGoogleMock(&argc, argv);
    // 注意這裡使用的是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檔案：

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. 新增當前專案中的標頭檔案 注意有順序的要求，不能亂
target_include_directories(client
    PRIVATE 
    ${PROJECT_SOURCE_DIR}/include
)

# 如果是測試程式碼
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執行檔案。${PROJECT_NAME}_test為自定義的test執行檔名稱；test/demo_test.cpp為test原始碼路徑
  # 注意這裡導包的時候，不再需要將 .h 檔案匯入進來，因為在 client.cpp中已經匯入了我們需要使用到的.h檔案
  # 另外，注意這裡不能匯入開發程式碼中的 main.cpp，因為已經有了一個測試的main.cpp
  ament_add_gtest(${PROJECT_NAME}_test ${TEST} src/client.cpp)
  # 務必注意這裡需要新增的依賴包
  ament_target_dependencies(${PROJECT_NAME}_test rclcpp tutorial_interfaces)

  install(TARGETS
          ${PROJECT_NAME}_test
          # 將生成的test執行檔案安裝到DESTINATION後的路徑下
          DESTINATION lib/${PROJECT_NAME})                                       
  ament_lint_auto_find_test_dependencies()
endif()

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

# 設定編譯構建型別為 除錯 模式
set(CMAKE_BUILD_TYPE Debug)   
# 生成覆蓋率檔案
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")

ament_package()

package.xml檔案：

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>client</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="zhi@todo.todo">zhi</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclcpp</depend>
  <depend>tutorial_interfaces</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

然後回到工作空間執行編譯構建命令：

colcon build --packages-select client

進入到 dev_ws/build/client路徑下，找到client_test可執行檔案即為生成的測試檔案

在另外一個終端啟動service包：

ros2 run cpp_srvcli server

執行

./client_test 23 3 4

執行測試檔案即可。

生成覆蓋率的指令碼：

#!/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=號兩側是不可以有空格的，這是個大坑
current_path=$(pwd)
echo "當前目錄是:" $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

程式封裝改寫：

如果不知道返回型別，直接斷點下去看下型別：

本文轉自：www.cnblogs.com/huaibin/p/15423963...

本作品採用《CC 協議》，轉載必須註明作者和本文連結

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