Apex.AI: Autoware (강의2)

1. ROS(Robot Operating System) 간단하게 알아보고 동작 확인해보기

강의 동영상(유튜브): Autoware Course Lecture 2: ROS2 101

강의 자료

ROS의 탄생 배경, 개요, 특징에 관하여 설명을 한다.

ROS에 관한 자세한 설명과 기본 튜토리얼은 네이버 오로카 카페에서 참고하면 이해가 잘된다.

1.1. 강의에 필요한 튜토리얼 설치

sip2@sip2-NG-N-i5750:~/adehome$ cd AutowareAuto/

sip2@sip2-NG-N-i5750:~/adehome/AutowareAuto$ ade start

Starting ade with the following images:

ade          | 18425565a9fd | master | registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/ade:master

ade-atom     | v1.39.1      | latest | registry.gitlab.com/apexai/ade-atom:latest                                  

autowareauto | c9dbc109642c | master | registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto:master    

ade_registry.gitlab.com_apexai_ade-atom_latest

ade_registry.gitlab.com_autowarefoundation_autoware.auto_autowareauto_master

non-network local connections being added to access control list

Current default time zone: 'Asia/Tokyo'

Local time is now:      Mon May 18 20:53:18 JST 2020.

Universal Time is now:  Mon May 18 11:53:18 UTC 2020.

Adding user sip2 to group video

Adding user sip2 to group dialout

Initializing /opt/atom

Initializing /opt/atom done

ADE startup completed.

ADE has been started, enter or run commands using: ade enter

sip2@sip2-NG-N-i5750:~/adehome/AutowareAuto$ ade enter

Entering ade with following images:

ade          | 18425565a9fd | master | registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto/ade:master

ade-atom     | v1.39.1      | latest | registry.gitlab.com/apexai/ade-atom:latest                                  

autowareauto | c9dbc109642c | master | registry.gitlab.com/autowarefoundation/autoware.auto/autowareauto:master  

sip2@ade:~$ source /opt/ros/dashing/setup.bash

sip2@ade:~$ sudo apt update

sip2@ade:~$ sudo apt install ros-dashing-turtlesim

Reading package lists... Done

Building dependency tree       

Reading state information... Done

The following packages were automatically installed and are no longer required:

  python3-rosdistro-modules python3-rospkg-modules

Use 'sudo apt autoremove' to remove them.

The following NEW packages will be installed:

  ros-dashing-turtlesim

0 upgraded, 1 newly installed, 0 to remove and 26 not upgraded.

Need to get 1,509 kB of archives.

After this operation, 20.5 MB of additional disk space will be used.

Get:1 http://packages.ros.org/ros2/ubuntu bionic/main amd64 ros-dashing-turtlesim amd64 1.0.1-1bionic.20200318.041354 [1,509 kB]

Fetched 1,509 kB in 10s (158 kB/s)                                                                  

debconf: delaying package configuration, since apt-utils is not installed

Selecting previously unselected package ros-dashing-turtlesim.

(Reading database ... 120477 files and directories currently installed.)

Preparing to unpack .../ros-dashing-turtlesim_1.0.1-1bionic.20200318.041354_amd64.deb ...

Unpacking ros-dashing-turtlesim (1.0.1-1bionic.20200318.041354) ...

Setting up ros-dashing-turtlesim (1.0.1-1bionic.20200318.041354) ...

Processing triggers for libc-bin (2.27-3ubuntu1) ...

sip2@ade:~$ sudo apt install ros-dashing-rqt-*

sip2@ade:~$ sudo apt install byobu

1.2. 예제 실행해 보기

sip2@ade:~$ byobu

sip2@ade:~$ source /opt/ros/dashing/setup.bash

sip2@ade:~$ mkdir -p ~/ros2_example_ws/src

sip2@ade:~$ cd ~/ros2_example_ws/

sip2@ade:~/ros2_example_ws$ git clone https://github.com/ros2/examples src/examples

Cloning into 'src/examples'...

remote: Enumerating objects: 213, done.

remote: Counting objects: 100% (213/213), done.

remote: Compressing objects: 100% (135/135), done.

remote: Total 4124 (delta 122), reused 131 (delta 67), pack-reused 3911

Receiving objects: 100% (4124/4124), 627.80 KiB | 941.00 KiB/s, done.

Resolving deltas: 100% (2715/2715), done.

sip2@ade:~/ros2_example_ws$ cd ~/ros2_example_ws/src/examples/

sip2@ade:~/ros2_example_ws/src/examples (master u=)$ git checkout dashing

Branch 'dashing' set up to track remote branch 'dashing' from 'origin' by rebasing.

Switched to a new branch 'dashing'

sip2@ade:~/ros2_example_ws/src/examples (dashing u=)$ cd ~/ros2_example_ws

sip2@ade:~/ros2_example_ws$ colcon build --symlink-install

Starting >>> examples_rclcpp_minimal_action_client

Starting >>> examples_rclcpp_minimal_action_server

Starting >>> examples_rclcpp_minimal_client

Starting >>> examples_rclcpp_minimal_composition

Starting >>> examples_rclcpp_minimal_publisher                                       

Starting >>> examples_rclcpp_minimal_service

Starting >>> examples_rclcpp_minimal_subscriber

Starting >>> examples_rclcpp_minimal_timer

Starting >>> examples_rclpy_executors                                                

Starting >>> examples_rclpy_minimal_action_client

Starting >>> examples_rclpy_minimal_action_server

Starting >>> examples_rclpy_minimal_client

Finished <<< examples_rclpy_executors [2.85s]                                               

Starting >>> examples_rclpy_minimal_publisher

Finished <<< examples_rclpy_minimal_action_client [2.96s]                                   

Finished <<< examples_rclpy_minimal_action_server [3.01s]                                   

Finished <<< examples_rclpy_minimal_client [3.06s]

Starting >>> examples_rclpy_minimal_service                                                

Starting >>> examples_rclpy_minimal_subscriber

Finished <<< examples_rclpy_minimal_subscriber [3.99s]                                          

Finished <<< examples_rclpy_minimal_publisher [4.52s]                                           

Finished <<< examples_rclpy_minimal_service [4.38s]                                            

Finished <<< examples_rclcpp_minimal_service [9.76s]                                            

Finished <<< examples_rclcpp_minimal_client [9.98s]                                              

Finished <<< examples_rclcpp_minimal_timer [10.1s]                                               

Finished <<< examples_rclcpp_minimal_publisher [10.6s]                                            

Finished <<< examples_rclcpp_minimal_action_server [10.7s]

Finished <<< examples_rclcpp_minimal_subscriber [10.7s]                                           

Finished <<< examples_rclcpp_minimal_action_client [11.4s]                                          

Finished <<< examples_rclcpp_minimal_composition [12.1s]                           

Summary: 15 packages finished [12.8s]

sip2@ade:~/ros2_example_ws$ source ./install/setup.bash

Pub/Sub 예제 실행해보기

sip2@ade:~/ros2_example_ws$ ros2 run examples_rclcpp_minimal_publisher publisher_lambda

[INFO] [minimal_publisher]: Publishing: 'Hello, world! 0'

[INFO] [minimal_publisher]: Publishing: 'Hello, world! 1'

[INFO] [minimal_publisher]: Publishing: 'Hello, world! 2'

[INFO] [minimal_publisher]: Publishing: 'Hello, world! 3'

[INFO] [minimal_publisher]: Publishing: 'Hello, world! 4'

[INFO] [minimal_publisher]: Publishing: 'Hello, world! 5'

[INFO] [minimal_publisher]: Publishing: 'Hello, world! 6'

[INFO] [minimal_publisher]: Publishing: 'Hello, world! 7'

[INFO] [minimal_publisher]: Publishing: 'Hello, world! 8'

[INFO] [minimal_publisher]: Publishing: 'Hello, world! 9'

새로운 창 생성(byobu에서는 F2을 누르면 새로운 창이 생성되고, F3,F4로 창간 이동을 수행)

sip2@ade:~$ source /opt/ros/dashing/setup.bash

sip2@ade:~$ cd ros2_example_ws/

sip2@ade:~/ros2_example_ws$ source ./install/setup.bash

sip2@ade:~/ros2_example_ws$ ros2 topic list

/parameter_events

/rosout

/topic

sip2@ade:~/ros2_example_ws$ ros2 topic echo /topic

data: Hello, world! 97

---

data: Hello, world! 98

---

data: Hello, world! 99

---

data: Hello, world! 100

---

^C

sip2@ade:~/ros2_example_ws$ ros2 topic hz /topic

average rate: 2.000

        min: 0.500s max: 0.500s std dev: 0.00009s window: 4

average rate: 2.000

        min: 0.500s max: 0.500s std dev: 0.00008s window: 7

average rate: 2.000

        min: 0.500s max: 0.500s std dev: 0.00007s window: 10

sip2@ade:~/ros2_example_ws$ cd src/examples/rclcpp/minimal_publisher/

sip2@ade:~/ros2_example_ws/src/examples/rclcpp/minimal_publisher (dashing u=)$ ls

CHANGELOG.rst   lambda.cpp           not_composable.cpp  README.md

CMakeLists.txt  member_function.cpp  package.xml

sip2@ade:~/ros2_example_ws/src/examples/rclcpp/minimal_publisher (dashing u=)$ less member_function.cpp

pub 소스코드 살펴보기

sip2@ade:~/ros2_example_ws/src/examples/rclcpp/minimal_publisher (dashing u=)$ emacs member_function.cpp 

내용 대충 수정하고 다시 colon build

sip2@ade:~/ros2_example_ws$ colcon build --symlink-install

Starting >>> examples_rclcpp_minimal_action_client

Starting >>> examples_rclcpp_minimal_action_server

Starting >>> examples_rclcpp_minimal_client

Starting >>> examples_rclcpp_minimal_composition

Starting >>> examples_rclcpp_minimal_publisher                                       

Starting >>> examples_rclcpp_minimal_service

Starting >>> examples_rclcpp_minimal_subscriber

Starting >>> examples_rclcpp_minimal_timer

Starting >>> examples_rclpy_executors                                                

Starting >>> examples_rclpy_minimal_action_client

Starting >>> examples_rclpy_minimal_action_server

Starting >>> examples_rclpy_minimal_client                                            

Finished <<< examples_rclcpp_minimal_client [1.85s]                                                

Starting >>> examples_rclpy_minimal_publisher

Finished <<< examples_rclcpp_minimal_action_client [2.02s]

Finished <<< examples_rclcpp_minimal_action_server [2.02s]                                         

Finished <<< examples_rclcpp_minimal_subscriber [1.92s]

Finished <<< examples_rclcpp_minimal_service [1.99s]

Finished <<< examples_rclcpp_minimal_timer [1.97s]                                              

Starting >>> examples_rclpy_minimal_service

Starting >>> examples_rclpy_minimal_subscriber

Finished <<< examples_rclcpp_minimal_composition [2.20s]                                        

Finished <<< examples_rclpy_executors [2.40s]                                               

Finished <<< examples_rclpy_minimal_action_client [2.42s]                                   

Finished <<< examples_rclpy_minimal_action_server [2.43s]

Finished <<< examples_rclpy_minimal_client [2.44s]                                           

Finished <<< examples_rclcpp_minimal_publisher [3.35s]                                         

Finished <<< examples_rclpy_minimal_publisher [1.92s]                            

Finished <<< examples_rclpy_minimal_service [1.74s]

Finished <<< examples_rclpy_minimal_subscriber [1.74s] 

sip2@ade:~/ros2_example_ws$ ros2 run examples_rclcpp_minimal_publisher publisher_member_function

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 0'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 1'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 2'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 3'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 4'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 5'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 6'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 7'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 8'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 9'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 10'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 11'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 12'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 13'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 14'

[INFO] [revenge_of_minimal_publisher]: Publishing: 'Hello, open road! 15'

ROS1이랑 똑같다.. 헤더랑 문법만 약간 다를뿐..

새로운 창 실행

sip2@ade:~/ros2_example_ws$ ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function

ROS의 Pub/Sub은 토픽 이름과 타입을 잘 맞춰주는 것이 포인트이다.

ROS1와  ROS2는 많이 비슷해서 강의 2에서 예제는 넘어가도 될 것 같다.

참고문헌

1) ROS Japan ユーザグループ 講習会 ～ROS 2 の紹介 ～

2) byobu 기본 사용법