ROS(indigo) 用于机器人控制的图形化编程工具--code_it robot_blockly
0 简介:
编程语言有汇编,高级语言,解释语言等,现在图形化编程也越来越流行。图形化编程简单易学。8年前,微软推出了VPL用于机器人程序设计,如Python和JavaScript都可以用图形化框图实现程序,有趣直观。
视频介绍教程,请参考:http://v.youku.com/v_show/id_XMTc4NjkwMDgyOA
当然也可以用Matlab的Simulink实现:
https://cn.mathworks.com/help/robotics/examples/get-started-with-ros-in-simulink.html
图1
LiveBlox就是典型的一种,具体参考之前博客:http://blog.csdn.net/ZhangRelay/article/details/51991997
1 参考资料:
这里主要介绍用于ROS的图形化编程工具,首先,主要参考网址如下:
1 https://github.com/erlerobot/robot_blockly
2 https://github.com/hcrlab/code_it
其中,1 robot_blockly实现简洁,并且介绍详细,这里不过多介绍。
这里主要介绍2 code_it。
2 一个简单交互的例子Blinky:
图2
2.1 安装:
依次输入下面命令:
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curl -sL https://deb.nodesource.com/setup_5.x | sudo -E bash -
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sudo apt-get install -y nodejs
https://github.com/hcrlab/blinky
sudo apt-get install ros-indigo-rosbridge-server
~/catkin_ws/src/blinky-indigo-devel/frontend$ 依次
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npm install -g gulp bower
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npm install
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bower install
并用nvm use 4.6.1,选择合适的node版本。
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~/catkin_ws/src/blinky-indigo-devel/frontend$ nvm use 4.6.1
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Now using node v4.6.1 (npm v2.15.9)
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~/catkin_ws/src/blinky-indigo-devel/frontend$ gulp
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[13:51:49] Using gulpfile ~/catkin_ws/src/blinky-indigo-devel/frontend/gulpfile.js
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[13:51:49] Starting 'clean'...
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[13:51:50] Finished 'clean' after 472 ms
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[13:51:50] Starting 'default'...
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[13:51:50] Starting 'copy'...
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[13:51:50] Starting 'styles'...
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[13:51:51] styles all files 98 B
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[13:51:51] Finished 'styles' after 1.08 s
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[13:51:52] copy all files 16.77 MB
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[13:51:52] Finished 'copy' after 2.1 s
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[13:51:52] Starting 'elements'...
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[13:51:52] Finished 'elements' after 9.34 ms
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[13:51:52] Starting 'lint'...
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[13:51:53] Starting 'images'...
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[13:51:53] Starting 'fonts'...
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[13:51:53] Starting 'html'...
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[13:51:54] Finished 'fonts' after 461 ms
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[13:51:57] Finished 'lint' after 5.48 s
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[13:51:57] gulp-imagemin: Minified 7 images (saved 1.45 kB - 3.2%)
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[13:51:57] images all files 43.69 kB
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[13:51:57] Finished 'images' after 4.08 s
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[13:51:57] html all files 83.06 kB
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[13:51:57] Finished 'html' after 4.01 s
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[13:51:57] Starting 'vulcanize'...
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[13:52:00] vulcanize all files 628.85 kB
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[13:52:00] Finished 'vulcanize' after 2.53 s
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[13:52:00] Finished 'default' after 10 s
2.2 使用:
分别在不同终端输入下面命令:
~$ roslaunch rosbridge_server rosbridge_websocket.launch
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logging to /home/exbot/.ros/log/084a8eba-a18a-11e6-9113-70f1a1ca7552/roslaunch-relay-Aspire-4741-6570.log
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Checking log directory for disk usage. This may take awhile.
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Press Ctrl-C to interrupt
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Done checking log file disk usage. Usage is <1GB.
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started roslaunch server http://relay-Aspire-4741:38297/
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SUMMARY
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========
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PARAMETERS
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* /rosbridge_websocket/address:
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* /rosbridge_websocket/authenticate: False
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* /rosbridge_websocket/delay_between_messages: 0
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* /rosbridge_websocket/fragment_timeout: 600
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* /rosbridge_websocket/max_message_size: None
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* /rosbridge_websocket/port: 9090
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* /rosbridge_websocket/retry_startup_delay: 5
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* /rosdistro: indigo
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* /rosversion: 1.11.20
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NODES
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/
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rosapi (rosapi/rosapi_node)
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rosbridge_websocket (rosbridge_server/rosbridge_websocket)
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auto-starting new master
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process[master]: started with pid [6582]
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ROS_MASTER_URI=http://localhost:11311
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setting /run_id to 084a8eba-a18a-11e6-9113-70f1a1ca7552
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process[rosout-1]: started with pid [6595]
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started core service [/rosout]
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process[rosbridge_websocket-2]: started with pid [6602]
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process[rosapi-3]: started with pid [6613]
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registered capabilities (classes):
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- rosbridge_library.capabilities.call_service.CallService
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- rosbridge_library.capabilities.advertise.Advertise
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- rosbridge_library.capabilities.publish.Publish
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- rosbridge_library.capabilities.subscribe.Subscribe
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- <class 'rosbridge_library.capabilities.defragmentation.Defragment'>
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- rosbridge_library.capabilities.advertise_service.AdvertiseService
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- rosbridge_library.capabilities.service_response.ServiceResponse
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- rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
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[INFO] [WallTime: 1478152491.544249] Rosbridge WebSocket server started on port 9090
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[INFO] [WallTime: 1478152523.004659] Client connected. 1 clients total.
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[INFO] [WallTime: 1478152524.576138] [Client 0] Subscribed to /blinky/goal
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[INFO] [WallTime: 1478152524.583260] [Client 0] Subscribed to /blinky/cancel
~/catkin_ws/src/blinky-indigo-devel/frontend$ gulp serve
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[13:55:03] Using gulpfile ~/catkin_ws/src/blinky-indigo-devel/frontend/gulpfile.js
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[13:55:03] Starting 'lint'...
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[13:55:05] Starting 'styles'...
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[13:55:06] Starting 'elements'...
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[13:55:06] Starting 'images'...
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[13:55:06] Finished 'elements' after 128 ms
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[13:55:06] styles all files 98 B
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[13:55:06] Finished 'styles' after 1.36 s
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[13:55:07] Finished 'lint' after 3.49 s
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[13:55:07] gulp-imagemin: Minified 7 images (saved 1.45 kB - 3.2%)
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[13:55:07] images all files 43.69 kB
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[13:55:07] Finished 'images' after 1.71 s
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[13:55:07] Starting 'serve'...
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[13:55:07] Finished 'serve' after 101 ms
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[PSK] Access URLs:
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--------------------------------------
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Local: http://localhost:5001
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External: http://192.168.1.102:5001
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--------------------------------------
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UI: http://localhost:3001
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UI External: http://192.168.1.102:3001
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--------------------------------------
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[PSK] Serving files from: .tmp
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[PSK] Serving files from: app
图3
输入:http://localhost:3001/,就可以看到:
图4
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$ rostopic list
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/blinky/cancel
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/blinky/feedback
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/blinky/goal
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/blinky/result
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/blinky/status
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/rosout
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/rosout_agg
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rostopic pub -1 blinky/goal blinky/FaceActionGoal "header:
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seq: 0
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stamp:
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secs: 0
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nsecs: 0
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frame_id: ''
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goal_id:
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stamp:
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secs: 0
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nsecs: 0
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id: ''
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goal:
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display_type: 'displayMessage'
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h1_text: 'Hi relay,this is OK'
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h2_text: 'Do you happy Now?'"
图5
更多内容查看原版介绍,发现更多惊喜。
3 图形化编程CodeIt!
一个独立的Blockly编程应用程序,并与ROS集成。 它允许您使用图形界面生成机器人的代码,并运行它。 你实现机器人的“创意”,它们与JavaScript的一个子集结合形成程序。您从界面可以运行程序并在程序中停止它们。
CodeIt! 与RWS兼容。
它是如何工作的?
CodeIt!提供前端和后端。前端是一个网站,它允许您使用Blockly编程接口创建程序。它还具有用于添加,更新或删除程序的简单界面。
后端提供了一个运行JavaScript程序的ROS actionlib服务器。程序通过沙盒解释器运行。您必须定义解释器将运行的机器人基元。大多数原语只做了很少的工作,只是调用ROS服务。后端还包括已创建的程序的数据库。
注意CodeIt!本身并不实现任何机器人功能。相反,它调用ROS服务来做机器人上的实际工作,假定存在提供这些服务的一些节点。由你来实现这些服务来做你的机器人的事情。我们有一些预先实现的这些服务的PR2和Turtlebot。然而,这些仍处于发展的早期阶段,没有记录。如果您真的有兴趣使用这些,请通过提交问题与我们联系,我们将很乐意提供帮助。
3.1 安装
这个项目使用Git子模块,所以使用git clone --recursive git@github.com:hcrlab / code_it.git克隆这个repo。要安装,您需要克隆:
blinky - 用于基于Web的机器人面的ROS包
code_it_msgs
location_server - 用于存储和检索要导航到的位置
code_it_turtlebot或code_it_pr2 - 这些实现ROS服务实际控制机器人,CodeIt!调用。您也可以自己为另一个机器人实现这些服务,请参阅code_it_msgs查看当前定义的服务。
您还需要安装:
MongoDB - 安装MongoDB和pymongo
确保pymongo是版本3(例如,3.3),如果没有,升级使用命令:sudo pip install pymongo --upgrade
Meteor - 从Meteor网站安装,ubuntu直接在终端输入:curl https://install.meteor.com/ | sh
Node - 强烈建议使用nvm安装Node。 nvm允许您轻松地在任意版本的节点之间安装和切换。当部署到生产环境时,Meteor需要正确地构建旧版本的节点,而gulp需要更新版本的节点。使用nvm在两者之间进行切换。
在frontend文件夹,运行npm install -g gulp bower && npm install && bower install
3.2 运行
主要分为四步,分别在不同终端运行,步骤和解释如下:
1 roslaunch rosbridge_server rosbridge_websocket.launch
2 rosrun code_it programs.py - 这是保存和加载程序到MongoDB和从MongoDB的后端。
3 从后端文件夹,运行 nvm use 0.10.40; meteor - 这是运行程序的JavaScript解释器。
4 从frontend文件夹,运行 nvm use node; gulp serve - 这是前端。 用浏览器localhost:5000查看页面。
图6
注意:meteor和gulp必须正常加载,如果报错需要结合情况进行调试,出现如下结果,就OK!:
meteor:
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exbot@relay-Aspire-4741:~/catkin_ws/src/code_it-indigo-devel/backend$ meteor
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[[[[[ ~/catkin_ws/src/code_it-indigo-devel/backend ]]]]]
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=> Started proxy.
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=> Meteor 1.4.2 is available. Update this project with 'meteor update'.
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=> Started MongoDB.
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=> Started your app.
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=> App running at: http://localhost:3000/
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I20161103-14:23:00.028(8)? Error connecting to websocket server.
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W20161103-14:23:00.026(8)? (STDERR) DEBUG: ROSLib uses utf8 encoding by default.It would be more efficent to use ascii (if possible)
gulp:
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exbot@relay-Aspire-4741:~/catkin_ws/src/code_it-indigo-devel/frontend$ gulp
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[14:22:02] Using gulpfile ~/catkin_ws/src/code_it-indigo-devel/frontend/gulpfile.js
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[14:22:02] Starting 'clean'...
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[14:22:03] Finished 'clean' after 633 ms
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[14:22:03] Starting 'default'...
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[14:22:03] Starting 'copy'...
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[14:22:03] Starting 'styles'...
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[14:22:05] styles all files 115.06 kB
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[14:22:05] Finished 'styles' after 2.21 s
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[14:22:06] copy all files 25.72 MB
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[14:22:06] Finished 'copy' after 3.53 s
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[14:22:06] Starting 'elements'...
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[14:22:06] Finished 'elements' after 9.43 ms
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[14:22:06] Starting 'lint'...
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[14:22:08] Starting 'images'...
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[14:22:09] Starting 'fonts'...
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[14:22:09] Starting 'html'...
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[14:22:09] Finished 'fonts' after 797 ms
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[14:22:13] Finished 'lint' after 7.14 s
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[14:22:13] gulp-imagemin: Minified 6 images (saved 494 B - 1.4%)
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[14:22:13] images all files 35.41 kB
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[14:22:13] Finished 'images' after 5.08 s
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[14:22:15] html all files 747.78 kB
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[14:22:15] Finished 'html' after 5.94 s
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[14:22:15] Starting 'vulcanize'...
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[14:22:19] vulcanize all files 1.52 MB
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[14:22:19] Finished 'vulcanize' after 3.95 s
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[14:22:19] Finished 'default' after 16 s
图7
启动后效果如下:
图8
图9
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文章来源: zhangrelay.blog.csdn.net,作者:zhangrelay,版权归原作者所有,如需转载,请联系作者。
原文链接:zhangrelay.blog.csdn.net/article/details/53020569
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