在windows上用python 連接Ubuntu ROS(一：使用roslibpy庫）

環境：

Win10+python叫它WinPC

虛擬機Ubuntu16.04 + ROS kinetic 叫它RosPC

首先，在RosPC上安裝rosbridge suite：

sudo apt-get install -y ros-kinetic-rosbridge-server
sudo apt-get install -y ros-kinetic-tf2-web-republisher

在你連接之前，確保服務已經開啓：

roslaunch rosbridge_server rosbridge_websocket.launch
rosrun tf2_web_republisher tf2_web_republisher

在你的WinPC上安裝roslibpy：

    pip install roslibpy

簡單連接:

我們開始導入roslibpy如下：

>>> import roslibpy

我們初始化連接(端口默認9090）：

>>> ros = roslibpy.Ros(host='localhost', port=9090)
>>> ros.run()

前面的行開始連接但不阻塞，即連接在後臺建立，但函數立即將控件返回給程序。

我們來看看狀態：

>>> ros.is_connected
True

比較複雜的例子：

建立一個ROS 節點，開始Publish(發送）:

import time

import roslibpy

client = roslibpy.Ros(host='localhost', port=9090)
talker = roslibpy.Topic(client, '/chatter', 'std_msgs/String')


def start_talking():
    while client.is_connected:
        talker.publish(roslibpy.Message({'data': 'Hello World!'}))
        print('Sending message...')
        time.sleep(1)

    talker.unadvertise()


client.on_ready(start_talking)
client.run_forever()

如果是接收端：

import roslibpy

client = roslibpy.Ros(host='localhost', port=9090)
listener = roslibpy.Topic(client, '/chatter', 'std_msgs/String')


def start_listening():
    listener.subscribe(receive_message)

def receive_message(message):
    print('Heard talking: ' + message['data'])

client.on_ready(start_listening)
client.run_forever()

做Service的服務器：

import roslibpy

client = roslibpy.Ros(host='localhost', port=9090)
client.run()
client.on_ready(lambda: call_service())

service = roslibpy.Service(client, '/rosout/get_loggers', 'roscpp/GetLoggers')


def call_service():
    print('Calling service')
    request = roslibpy.ServiceRequest()
    service.call(request, success_callback, error_callback)


def success_callback(result):
    print('Service response: ', result['loggers'])


def error_callback(result):
    print('Something went wrong')


try:
    while True:
        pass
except KeyboardInterrupt:
    pass

client.terminate()

但是對於我來說，我在ROS上的代碼是C++的，所以我希望在WinPC上用c++來連接ROS。

於是我又用了rosserial_windows.