运动控制开发指南

#机器人主控的根目录下有bxi_ws文件夹，里面带有机器人的运动控制程序

#附项目的原地址,请仔细阅读readme.md
https://github.com/bxirobotics/bxi_rl_controller_ros2_example

# my_cpp_pkg 自行修改名字
ros2 pkg create my_cpp_pkg --build-type ament_cmake --dependencies rclcpp std_msgs

# include "rclcpp/rclcpp.hpp"
# include "std_msgs/msg/string.hpp"
# include <communication/msg/motion_commands.hpp>
using namespace std::chrono_literals;
class MotionCtrl : public rclcpp::Node
{
public:
    MotionCtrl() : Node("motion_ctrl")
    {
        publisher_  = this->create_publisher<communication::msg::MotionCommands>("/motion_commands", 20);
        timer_ = this->create_wall_timer(500ms, std::bind(&MotionCtrl::timer_callback, this));
    }
private:
    void timer_callback()
    {       
        auto message = communication::msg::MotionCommands();
        message.header.stamp = this->get_clock()->now();
        message.header.frame_id = "";
        message.vel_des.x =  0.5; // 前后
        message.yawdot_des =  0.5;// 旋转

        publisher_->publish(message);
    }
    rclcpp::Publisher<communication::msg::MotionCommands>::SharedPtr publisher_;
    rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char **argv)
{
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<MotionCtrl>());
    rclcpp::shutdown();
    return 0;
}

# 添加以下内容
find_package(communication REQUIRED)
add_executable(cpp_node src/main.cpp)
ament_target_dependencies(cpp_node rclcpp std_msgs communication)

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

# 需要在先colcon build 编译后再进行一下操作
source install/setup.bash
ros2 run my_cpp_pkg cpp_node

# my_cpp_pkg 自行修改名字
ros2 pkg create my_py_pkg --build-type ament_python --dependencies rclpy std_msgs

import rclpy
from rclpy.node import Node
from communication.msg import MotionCommands


class MotionCtrl(Node):
    def __init__(self):
        super().__init__('motion_ctrl')

        self.publisher_ = self.create_publisher(
            MotionCommands,
            '/motion_commands',
            20,
        )
        self.timer = self.create_timer(0.5, self.timer_callback)

    def timer_callback(self):
        message = MotionCommands()

        message.header.stamp = self.get_clock().now().to_msg()
        message.header.frame_id = ''

        message.vel_des.x = 0.5
        message.yawdot_des = 0.5

        self.publisher_.publish(message)

def main(args=None):
    rclpy.init(args=args)
    node = MotionCtrl()

    try:
        rclpy.spin(node)
    finally:
        node.destroy_node()
        rclpy.shutdown()


if __name__ == '__main__':
    main()

#添加这个
 <depend>communication</depend>

# 修改入口
entry_points={
    'console_scripts': [
        'motion_ctrl = my_py_pkg.motion_ctrl:main',
    ],
},

#需要在先colcon build 编译后再进行一下操作
source install/setup.bash
ros2 run my_py_pkg motion_ctrl

systemctl status ros_elf_launch.service

systemctl stop ros_elf_launch.service

systemctl start ros_elf_launch.service

systemctl stop ros_elf_launch.service
sudo systemctl disable ros_elf_launch.service
#这个会禁用开机自启

#!/bin/bash

# 定义进程名称
PROCESS_NAME="remote_controller"

echo "正在尝试关闭进程: $PROCESS_NAME ..."

# 获取进程 PID
# pgrep -f 会匹配包含该字符串的完整命令行
PID=$(pgrep -f "$PROCESS_NAME")

if [ -z "$PID" ]; then
    echo "未找到正在运行的 $PROCESS_NAME 进程。"
else
    echo "发现 PID: $PID，正在发送终止信号..."

    # 先尝试温柔地终止 (SIGTERM)
    kill $PID

    # 等待一秒检查是否成功，如果没有则强制结束 (SIGKILL)
    sleep 1
    if ps -p $PID > /dev/null; then
        echo "进程未响应，正在强制关闭 (kill -9)..."
        kill -9 $PID
    fi

    echo "进程 $PROCESS_NAME 已关闭。"
fi