ROS-Tutorials：rviz之Markers: Sending Basic Shapes (C++，附vscode调试说明)

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官方的教程在这里：rviz/Tutorials/Markers: Basic Shapes - ROS Wikihttps://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes

我自己在ubuntu20.04上运行时碰到了一些问题，所以记录一下，

mkdir -p prj001/src
cd prj002/src
catkin_create_pkg using_markers roscpp visualization_msgs

这时候会生成下面这样的目录结构：

~/prj001/src/using_markers/src
~/prj001/src/using_markers/include
~/prj001/src/using_markers/CMakeLists.txt

然后建立一个叫basic_shapes.cpp的文件，放在这里，

~/prj001/src/using_markers/src/basic_shapes.cpp

文件内容如下，

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>int main( int argc, char** argv )
{ros::init(argc, argv, "basic_shapes");ros::NodeHandle n;ros::Rate r(1);ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1);// Set our initial shape type to be a cubeuint32_t shape = visualization_msgs::Marker::CUBE;while (ros::ok()){visualization_msgs::Marker marker;// Set the frame ID and timestamp.  See the TF tutorials for information on these.marker.header.frame_id = "my_frame"; //<------------注意这里有改动marker.header.stamp = ros::Time::now();// Set the namespace and id for this marker.  This serves to create a unique ID// Any marker sent with the same namespace and id will overwrite the old onemarker.ns = "basic_shapes";marker.id = 0;// Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDERmarker.type = shape;// Set the marker action.  Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)marker.action = visualization_msgs::Marker::ADD;// Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the headermarker.pose.position.x = 0;marker.pose.position.y = 0;marker.pose.position.z = 0;marker.pose.orientation.x = 0.0;marker.pose.orientation.y = 0.0;marker.pose.orientation.z = 0.0;marker.pose.orientation.w = 1.0;// Set the scale of the marker -- 1x1x1 here means 1m on a sidemarker.scale.x = 1.0;marker.scale.y = 1.0;marker.scale.z = 1.0;// Set the color -- be sure to set alpha to something non-zero!marker.color.r = 0.0f;marker.color.g = 1.0f;marker.color.b = 0.0f;marker.color.a = 1.0;marker.lifetime = ros::Duration();// Publish the markerwhile (marker_pub.getNumSubscribers() < 1){if (!ros::ok()){return 0;}ROS_WARN_ONCE("Please create a subscriber to the marker");sleep(1);}marker_pub.publish(marker);// Cycle between different shapesswitch (shape){case visualization_msgs::Marker::CUBE:shape = visualization_msgs::Marker::SPHERE;break;case visualization_msgs::Marker::SPHERE:shape = visualization_msgs::Marker::ARROW;break;case visualization_msgs::Marker::ARROW:shape = visualization_msgs::Marker::CYLINDER;break;case visualization_msgs::Marker::CYLINDER:shape = visualization_msgs::Marker::CUBE;break;}r.sleep();}
}

要特别注意"/my_frame"被我改成了"my_frame"，主要原因是新的tf不再支持原来的命名方式。如果不改的话rviz会报错：

Invalid argument "/my_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like

同时basic_shapes也会提示：

please create a subscriber to the marker

然后，CMakeLists.txt之中要添加下面这两句

add_executable(basic_shapes src/basic_shapes.cpp)
target_link_libraries(basic_shapes ${catkin_LIBRARIES})

这样，准备好之后就可以按官方的操作编译了，

$ cd ~/prj001/
$ catkin_make

rosmake rviz

完成后分别打开三个terminal，在每个terminal中要记得source devel/setup.bash

roscore
rosrun using_markers basic_shapes
rosrun rviz rviz

最后就可以看到输出的图像了。

VSCode调试说明

参考：

Ubuntu20.04+vscode快速调试ROS通用程序_tanmx219的博客-CSDN博客(PlaceHolder.....)这里假设你已经安装好了ROS noetic和git。(1) 安装vscode和extensionsubuntu上如何安装vscode可以参考官网，Running Visual Studio Code on Linux需要安装的vscode扩展如下，C/C++ (c++ intellisense and configuration help) -> MandatoryClangd (Alternative intellisense provhttps://blog.csdn.net/tanmx219/article/details/122799015

快捷键ctrl+shift+p，找到C/C++ :Edit configurations (JSON)，添加c_cppproperties.json文件，这个文件应该是指定一些路径和语言标准，如下，

c_cpp_properties.json

{"configurations": [{"browse": {"databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db","limitSymbolsToIncludedHeaders": false},"includePath": ["/opt/ros/noetic/include/**","/home/matthew/projects/prj001/src/using_markers/include/**","/usr/include/**"],"name": "ROS","intelliSenseMode": "gcc-x64","compilerPath": "/usr/bin/gcc","cStandard": "c11","cppStandard": "c++14","configurationProvider": "ms-vscode.cmake-tools"}],"version": 4
}

快捷键ctrl+shift+p，找到Tasks:Configure Task，添加tasks.json文件，这个文件指定一些catkin_make的编译参数。

注意这里的定义"-DCMAKE_BUILD_TYPE=Debug",

tasks.json

{"tasks": [{"type": "shell","label": "prerun","command": "source ./devel/setup.sh && export ROS_MASTER_URI=http://localhost:11311/",            },{"type": "shell","label": "catkin_make","command": "catkin_make","args": ["--directory","~/projects/prj001/","-DCMAKE_BUILD_TYPE=Debug"],"options": {"cwd": "${fileDirname}"},"problemMatcher": ["$msCompile"],"group": "build","detail": "调试器生成的任务。"},{"label": "Build","dependsOn": ["catkin_make","prerun"]}],"version": "2.0.0"
}

launch.json

{// Use IntelliSense to learn about possible attributes.// Hover to view descriptions of existing attributes.// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387"version": "0.2.0","configurations": [{"name": "basic_shapes","type": "cppdbg","request": "launch","program": "${workspaceFolder}/devel/lib/using_markers/basic_shapes","args": [],"stopAtEntry": false,"cwd": "${fileDirname}","environment": [],"externalConsole": false,"MIMode": "gdb","setupCommands": [{"description": "为 gdb 启用整齐打印","text": "-enable-pretty-printing","ignoreFailures": true}],"preLaunchTask": "catkin_make","miDebuggerPath": "/usr/bin/gdb"}]
}

附加说明

如果需要在launch之前运行tasks.json里的任务，就可以加上preLaunchTask这一条，比如这里tasks.json里有一个名字叫"catkin_make"，可以通过

"preLaunchTask": "catkin_make"

这样的语句使程序在启动前都编译一次源码。

这样，启动vscode，选择basic_shapes，就可以调试源码了。