1.CV开发常用库
(1)语言/视觉：CPP、OpenCV、OpenGV
(2)通信/模拟：Asio、ROS、Gazebo、Webots
(3)日志/数学：Eigen、Gflags、Glog、Ceres、Sophus、CLI11、Spdlog、Cereal
(4)其它可能库：Octomap、QT、TBB
1.MACXX头文件
保存非通信/模拟库到macxx文件：
1 //1.C headers and Reference: http://www.cplusplus.com/reference/clibrary/ 2 //1.1 C89 headers(18) 3 //#include <assert.h> 4 //#include <ctype.h> 5 //#include <errno.h> 6 //#include <float.h> 7 //#include <iso646.h> 8 //#include <limits.h> 9 //#include <locale.h> 10 //#include <math.h> 11 //#include <setjmp.h> 12 //#include <signal.h> 13 //#include <stdarg.h> 14 //#include <stddef.h> 15 //#include <stdio.h> 16 //#include <stdlib.h> 17 //#include <string.h> 18 //#include <time.h> 19 //#include <wchar.h> 20 //#include <wctype.h> 21 ////1.2 C99 headers(6) 22 //#include <complex.h> 23 //#include <fenv.h> 24 //#include <inttypes.h> 25 //#include <stdbool.h> 26 //#include <stdint.h> 27 //#include <tgmath.h> 28 ////1.3 C11 headers(5) 29 //#include <stdalign.h> 30 //#include <stdatomic.h> 31 //#include <stdnoreturn.h> 32 //#include <threads.h> 33 //#include <uchar.h> 34 35 //2.CPP headers(50) and Reference: http://en.cppreference.com/w/cpp/header 36 //2.1 C++98 and C++03 headers(50) 37 #include <cassert> 38 #include <cctype> 39 #include <cerrno> 40 #include <cfloat> 41 #include <ciso646> 42 #include <climits> 43 #include <clocale> 44 #include <cmath> 45 #include <csetjmp> 46 #include <csignal> 47 #include <cstdarg> 48 #include <cstddef> 49 #include <cstdio> 50 #include <cstdlib> 51 #include <cstring> 52 #include <ctime> 53 #include <cwchar> 54 #include <cwctype> 55 #include <deque> 56 #include <list> 57 #include <vector> 58 #include <set> 59 #include <map> 60 #include <queue> 61 #include <stack> 62 #include <algorithm> 63 #include <string> 64 #include <iterator> 65 #include <memory> 66 #include <new> 67 #include <ios> 68 #include <iosfwd> 69 #include <iomanip> 70 #include <iostream> 71 #include <istream> 72 #include <ostream> 73 #include <fstream> 74 #include <sstream> 75 #include <streambuf> 76 #include <exception> 77 #include <stdexcept> 78 #include <complex> 79 #include <limits> 80 #include <numeric> 81 #include <valarray> 82 #include <locale> 83 #include <bitset> 84 #include <functional> 85 #include <typeinfo> 86 #include <utility> 87 //2.2 C++11 and C++14 headers(25) 88 #include <typeindex> 89 #include <type_traits> 90 #include <chrono> 91 #include <initializer_list> 92 #include <tuple> 93 #include <scoped_allocator> 94 #include <cstdint> 95 #include <cinttypes> 96 #include <system_error> 97 #include <cuchar> 98 #include <array> 99 #include <forward_list> 100 #include <unordered_map> 101 #include <unordered_set> 102 #include <random> 103 #include <ratio> 104 #include <cfenv> 105 #include <codecvt> 106 #include <regex> 107 #include <atomic> 108 #include <thread> 109 #include <mutex> 110 #include <shared_mutex> 111 #include <future> 112 #include <condition_variable> 113 114 //3.Qt5.x headers 115 #include <asio.hpp> 116 #include <QtGui/QtGui> 117 #include <QtCore/QtCore> 118 #include <QtWidgets/QtWidgets> 119 #include <QtNetwork/QtNetwork> 120 #include <QtSerialPort/QtSerialPort> 121 #include <QtMultimedia/QtMultimedia> 122 #include <QtMultimediaWidgets/QtMultimediaWidgets> 123 #include <QtSql/QtSql> 124 #include <QtCharts/QtCharts> 125 #include <QtDataVisualization/QtDataVisualization> 126 127 //4.Eigen&Ceres&Sophus&Asio&CLI11&Spdlog headers 128 #include <Eigen/Eigen> 129 #include <ceres/ceres.h> 130 #include <ceres/rotation.h> 131 #include <sophus/geometry.hpp> 132 #include <CLI/CLI.hpp> 133 #include <spdlog/spdlog.h> 134 #include <spdlog/async.h> 135 #include <spdlog/sinks/basic_file_sink.h> 136 #include <spdlog/sinks/rotating_file_sink.h> 137 138 //5.OpenCV4.x headers 139 #include <opencv2/opencv.hpp> 140 #include <opencv2/core/async.hpp> 141 #include <opencv2/core/utils/filesystem.hpp> 142 #include <opencv2/viz.hpp> 143 #include <opencv2/plot.hpp> 144 #include <opencv2/aruco.hpp> 145 #include <opencv2/xphoto.hpp> 146 #include <opencv2/ximgproc.hpp> 147 #include <opencv2/xobjdetect.hpp> 148 #include <opencv2/ccalib/multicalib.hpp> 149 #include <opencv2/core/core_c.h> //for CvLevMarq 150 #include <opencv2/calib3d/calib3d_c.h> //for CvLevMarq 151 152 //6.ROS2&Gazebo11&Webots202x headers 153 #include "maros.h" 154 155 //9.Namespaces used often 156 using namespace std; 157 using namespace cv; 158 using namespace QtDataVisualization; 159 160 //10.Additional headers 161 //10.1Octomap headers 162 #include <octomap/OcTree.h> 163 #include <octomap/ColorOcTree.h> 164 #include <octomap/OcTreeStamped.h> 165 #include <octomap/CountingOcTree.h> 166 #include <octomap/MapCollection.h>
2.MAROS头文件
保存通信/模拟库到maros文件：
1 #define stdmsg std_msgs::msg 2 #define stdsrv std_srvs::srv 3 #define geomsg geometry_msgs::msg 4 #define ssrmsg sensor_msgs::msg 5 6 #if 1 7 #include <webots/GPS.hpp> 8 #include <webots/LED.hpp> 9 #include <webots/Pen.hpp> 10 #include <webots/Gyro.hpp> 11 #include <webots/Node.hpp> 12 #include <webots/Skin.hpp> 13 #include <webots/Brake.hpp> 14 #include <webots/Field.hpp> 15 #include <webots/Lidar.hpp> 16 #include <webots/Motor.hpp> 17 #include <webots/Mouse.hpp> 18 #include <webots/Radar.hpp> 19 #include <webots/Robot.hpp> 20 #include <webots/Camera.hpp> 21 #include <webots/Device.hpp> 22 #include <webots/Compass.hpp> 23 #include <webots/Display.hpp> 24 #include <webots/Emitter.hpp> 25 #include <webots/Speaker.hpp> 26 #include <webots/ImageRef.hpp> 27 #include <webots/Joystick.hpp> 28 #include <webots/Keyboard.hpp> 29 #include <webots/Receiver.hpp> 30 #include <webots/Connector.hpp> 31 #include <webots/Supervisor.hpp> 32 #include <webots/LightSensor.hpp> 33 #include <webots/RangeFinder.hpp> 34 #include <webots/TouchSensor.hpp> 35 #include <webots/vehicle/Car.hpp> 36 #include <webots/InertialUnit.hpp> 37 #include <webots/utils/Motion.hpp> 38 #include <webots/Accelerometer.hpp> 39 #include <webots/DistanceSensor.hpp> 40 #include <webots/PositionSensor.hpp> 41 #include <webots/vehicle/Driver.hpp> 42 #include <webots/utils/AnsiCodes.hpp> 43 #include <webots/DifferentialWheels.hpp> 44 #endif 45 46 #if 1 47 48 //ament_index_cpp 49 #include <ament_index_cpp/get_resource.hpp> 50 #include <ament_index_cpp/has_resource.hpp> 51 #include <ament_index_cpp/get_resources.hpp> 52 #include <ament_index_cpp/get_search_paths.hpp> 53 #include <ament_index_cpp/get_package_prefix.hpp> 54 #include <ament_index_cpp/get_packages_with_prefixes.hpp> 55 #include <ament_index_cpp/get_package_share_directory.hpp> 56 57 //rclcpp 58 #include <rclcpp/qos.hpp> 59 #include <rclcpp/node.hpp> 60 #include <rclcpp/rate.hpp> 61 #include <rclcpp/time.hpp> 62 #include <rclcpp/clock.hpp> 63 #include <rclcpp/event.hpp> 64 #include <rclcpp/timer.hpp> 65 #include <rclcpp/client.hpp> 66 #include <rclcpp/logger.hpp> 67 #include <rclcpp/macros.hpp> 68 #include <rclcpp/rclcpp.hpp> 69 #include <rclcpp/context.hpp> 70 #include <rclcpp/logging.hpp> 71 #include <rclcpp/service.hpp> 72 #include <rclcpp/duration.hpp> 73 #include <rclcpp/executor.hpp> 74 #include <rclcpp/wait_set.hpp> 75 #include <rclcpp/waitable.hpp> 76 #include <rclcpp/executors.hpp> 77 #include <rclcpp/parameter.hpp> 78 #include <rclcpp/publisher.hpp> 79 #include <rclcpp/qos_event.hpp> 80 #include <rclcpp/utilities.hpp> 81 #include <rclcpp/exceptions.hpp> 82 #include <rclcpp/scope_exit.hpp> 83 #include <rclcpp/time_source.hpp> 84 #include <rclcpp/wait_result.hpp> 85 #include <rclcpp/create_timer.hpp> 86 #include <rclcpp/init_options.hpp> 87 #include <rclcpp/message_info.hpp> 88 #include <rclcpp/node_options.hpp> 89 #include <rclcpp/subscription.hpp> 90 #include <rclcpp/create_client.hpp> 91 #include <rclcpp/parameter_map.hpp> 92 #include <rclcpp/serialization.hpp> 93 #include <rclcpp/any_executable.hpp> 94 #include <rclcpp/callback_group.hpp> 95 #include <rclcpp/create_service.hpp> 96 #include <rclcpp/graph_listener.hpp> 97 #include <rclcpp/loaned_message.hpp> 98 #include <rclcpp/publisher_base.hpp> 99 #include <rclcpp/function_traits.hpp> 100 #include <rclcpp/guard_condition.hpp> 101 #include <rclcpp/memory_strategy.hpp> 102 #include <rclcpp/parameter_value.hpp> 103 #include <rclcpp/create_publisher.hpp> 104 #include <rclcpp/executor_options.hpp> 105 #include <rclcpp/parameter_client.hpp> 106 #include <rclcpp/wait_result_kind.hpp> 107 #include <rclcpp/memory_strategies.hpp> 108 #include <rclcpp/parameter_service.hpp> 109 #include <rclcpp/publisher_factory.hpp> 110 #include <rclcpp/publisher_options.hpp> 111 #include <rclcpp/subscription_base.hpp> 112 #include <rclcpp/type_support_decl.hpp> 113 #include <rclcpp/wait_set_template.hpp> 114 #include <rclcpp/future_return_code.hpp> 115 #include <rclcpp/serialized_message.hpp> 116 #include <rclcpp/visibility_control.hpp> 117 #include <rclcpp/create_subscription.hpp> 118 #include <rclcpp/subscription_traits.hpp> 119 #include <rclcpp/any_service_callback.hpp> 120 #include <rclcpp/subscription_factory.hpp> 121 #include <rclcpp/subscription_options.hpp> 122 #include <rclcpp/intra_process_setting.hpp> 123 #include <rclcpp/topic_statistics_state.hpp> 124 #include <rclcpp/message_memory_strategy.hpp> 125 #include <rclcpp/parameter_events_filter.hpp> 126 #include <rclcpp/any_subscription_callback.hpp> 127 #include <rclcpp/intra_process_buffer_type.hpp> 128 #include <rclcpp/subscription_wait_set_mask.hpp> 129 #include <rclcpp/expand_topic_or_service_name.hpp> 130 131 //rclcpp_action 132 #include <rclcpp_action/qos.hpp> 133 #include <rclcpp_action/types.hpp> 134 #include <rclcpp_action/client.hpp> 135 #include <rclcpp_action/server.hpp> 136 #include <rclcpp_action/exceptions.hpp> 137 #include <rclcpp_action/create_client.hpp> 138 #include <rclcpp_action/create_server.hpp> 139 #include <rclcpp_action/rclcpp_action.hpp> 140 #include <rclcpp_action/client_goal_handle.hpp> 141 #include <rclcpp_action/server_goal_handle.hpp> 142 #include <rclcpp_action/visibility_control.hpp> 143 144 //std_msgs 145 #include <std_msgs/msg/bool.hpp> 146 #include <std_msgs/msg/byte.hpp> 147 #include <std_msgs/msg/char.hpp> 148 #include <std_msgs/msg/int8.hpp> 149 #include <std_msgs/msg/empty.hpp> 150 #include <std_msgs/msg/int16.hpp> 151 #include <std_msgs/msg/int32.hpp> 152 #include <std_msgs/msg/int64.hpp> 153 #include <std_msgs/msg/header.hpp> 154 #include <std_msgs/msg/string.hpp> 155 #include <std_msgs/msg/u_int8.hpp> 156 #include <std_msgs/msg/float32.hpp> 157 #include <std_msgs/msg/float64.hpp> 158 #include <std_msgs/msg/u_int16.hpp> 159 #include <std_msgs/msg/u_int32.hpp> 160 #include <std_msgs/msg/u_int64.hpp> 161 #include <std_msgs/msg/color_rgba.hpp> 162 #include <std_msgs/msg/byte_multi_array.hpp> 163 #include <std_msgs/msg/int8_multi_array.hpp> 164 #include <std_msgs/msg/int16_multi_array.hpp> 165 #include <std_msgs/msg/int32_multi_array.hpp> 166 #include <std_msgs/msg/int64_multi_array.hpp> 167 #include <std_msgs/msg/multi_array_layout.hpp> 168 #include <std_msgs/msg/u_int8_multi_array.hpp> 169 #include <std_msgs/msg/float32_multi_array.hpp> 170 #include <std_msgs/msg/float64_multi_array.hpp> 171 #include <std_msgs/msg/u_int16_multi_array.hpp> 172 #include <std_msgs/msg/u_int32_multi_array.hpp> 173 #include <std_msgs/msg/u_int64_multi_array.hpp> 174 #include <std_msgs/msg/multi_array_dimension.hpp> 175 176 //std_srvs 177 #include <std_srvs/srv/empty.hpp> 178 #include <std_srvs/srv/trigger.hpp> 179 #include <std_srvs/srv/set_bool.hpp> 180 181 //builtin_interfaces 182 #include <builtin_interfaces/msg/time.hpp> 183 #include <builtin_interfaces/msg/duration.hpp> 184 185 //sensor_msgs 186 #include <sensor_msgs/fill_image.hpp> 187 #include <sensor_msgs/image_encodings.hpp> 188 #include <sensor_msgs/distortion_models.hpp> 189 #include <sensor_msgs/point_cloud2_iterator.hpp> 190 #include <sensor_msgs/point_cloud_conversion.hpp> 191 #include <sensor_msgs/point_field_conversion.hpp> 192 #include <sensor_msgs/msg/imu.hpp> 193 #include <sensor_msgs/msg/joy.hpp> 194 #include <sensor_msgs/msg/image.hpp> 195 #include <sensor_msgs/msg/range.hpp> 196 #include <sensor_msgs/msg/laser_echo.hpp> 197 #include <sensor_msgs/msg/laser_scan.hpp> 198 #include <sensor_msgs/msg/camera_info.hpp> 199 #include <sensor_msgs/msg/illuminance.hpp> 200 #include <sensor_msgs/msg/joint_state.hpp> 201 #include <sensor_msgs/msg/nav_sat_fix.hpp> 202 #include <sensor_msgs/msg/point_cloud.hpp> 203 #include <sensor_msgs/msg/point_field.hpp> 204 #include <sensor_msgs/msg/temperature.hpp> 205 #include <sensor_msgs/msg/joy_feedback.hpp> 206 #include <sensor_msgs/msg/point_cloud2.hpp> 207 #include <sensor_msgs/msg/battery_state.hpp> 208 #include <sensor_msgs/msg/fluid_pressure.hpp> 209 #include <sensor_msgs/msg/magnetic_field.hpp> 210 #include <sensor_msgs/msg/nav_sat_status.hpp> 211 #include <sensor_msgs/msg/time_reference.hpp> 212 #include <sensor_msgs/msg/channel_float32.hpp> 213 #include <sensor_msgs/msg/compressed_image.hpp> 214 #include <sensor_msgs/msg/relative_humidity.hpp> 215 #include <sensor_msgs/msg/joy_feedback_array.hpp> 216 #include <sensor_msgs/msg/region_of_interest.hpp> 217 #include <sensor_msgs/msg/multi_dof_joint_state.hpp> 218 #include <sensor_msgs/msg/multi_echo_laser_scan.hpp> 219 #include <sensor_msgs/srv/set_camera_info.hpp> 220 221 //geometry_msgs 222 #include <geometry_msgs/msg/pose.hpp> 223 #include <geometry_msgs/msg/accel.hpp> 224 #include <geometry_msgs/msg/point.hpp> 225 #include <geometry_msgs/msg/twist.hpp> 226 #include <geometry_msgs/msg/wrench.hpp> 227 #include <geometry_msgs/msg/inertia.hpp> 228 #include <geometry_msgs/msg/point32.hpp> 229 #include <geometry_msgs/msg/polygon.hpp> 230 #include <geometry_msgs/msg/pose2_d.hpp> 231 #include <geometry_msgs/msg/vector3.hpp> 232 #include <geometry_msgs/msg/transform.hpp> 233 #include <geometry_msgs/msg/pose_array.hpp> 234 #include <geometry_msgs/msg/quaternion.hpp> 235 #include <geometry_msgs/msg/pose_stamped.hpp> 236 #include <geometry_msgs/msg/accel_stamped.hpp> 237 #include <geometry_msgs/msg/point_stamped.hpp> 238 #include <geometry_msgs/msg/twist_stamped.hpp> 239 #include <geometry_msgs/msg/wrench_stamped.hpp> 240 #include <geometry_msgs/msg/inertia_stamped.hpp> 241 #include <geometry_msgs/msg/polygon_stamped.hpp> 242 #include <geometry_msgs/msg/vector3_stamped.hpp> 243 #include <geometry_msgs/msg/transform_stamped.hpp> 244 #include <geometry_msgs/msg/quaternion_stamped.hpp> 245 #include <geometry_msgs/msg/pose_with_covariance.hpp> 246 #include <geometry_msgs/msg/accel_with_covariance.hpp> 247 #include <geometry_msgs/msg/twist_with_covariance.hpp> 248 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp> 249 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp> 250 #include <geometry_msgs/msg/twist_with_covariance_stamped.hpp> 251 252 //trajectory_msgs 253 #include <trajectory_msgs/msg/joint_trajectory.hpp> 254 #include <trajectory_msgs/msg/joint_trajectory_point.hpp> 255 #include <trajectory_msgs/msg/multi_dof_joint_trajectory.hpp> 256 #include <trajectory_msgs/msg/multi_dof_joint_trajectory_point.hpp> 257 258 //move_base_msgs 259 #include <move_base_msgs/action/move_base.hpp> 260 261 //stereo_msgs 262 #include <stereo_msgs/msg/disparity_image.hpp> 263 264 //shape_msgs 265 #include <shape_msgs/msg/mesh.hpp> 266 #include <shape_msgs/msg/plane.hpp> 267 #include <shape_msgs/msg/mesh_triangle.hpp> 268 #include <shape_msgs/msg/solid_primitive.hpp> 269 270 //map_msgs 271 #include <map_msgs/msg/projected_map.hpp> 272 #include <map_msgs/msg/projected_map_info.hpp> 273 #include <map_msgs/msg/point_cloud2_update.hpp> 274 #include <map_msgs/msg/occupancy_grid_update.hpp> 275 #include <map_msgs/srv/save_map.hpp> 276 #include <map_msgs/srv/get_map_roi.hpp> 277 #include <map_msgs/srv/get_point_map.hpp> 278 #include <map_msgs/srv/get_point_map_roi.hpp> 279 #include <map_msgs/srv/projected_maps_info.hpp> 280 #include <map_msgs/srv/set_map_projections.hpp> 281 282 //nav_msgs 283 #include <nav_msgs/msg/path.hpp> 284 #include <nav_msgs/msg/odometry.hpp> 285 #include <nav_msgs/msg/grid_cells.hpp> 286 #include <nav_msgs/msg/map_meta_data.hpp> 287 #include <nav_msgs/msg/occupancy_grid.hpp> 288 #include <nav_msgs/srv/get_map.hpp> 289 #include <nav_msgs/srv/set_map.hpp> 290 #include <nav_msgs/srv/get_plan.hpp> 291 292 //visualization_msgs 293 #include <visualization_msgs/msg/marker.hpp> 294 #include <visualization_msgs/msg/menu_entry.hpp> 295 #include <visualization_msgs/msg/image_marker.hpp> 296 #include <visualization_msgs/msg/marker_array.hpp> 297 #include <visualization_msgs/msg/interactive_marker.hpp> 298 #include <visualization_msgs/msg/interactive_marker_init.hpp> 299 #include <visualization_msgs/msg/interactive_marker_pose.hpp> 300 #include <visualization_msgs/msg/interactive_marker_update.hpp> 301 #include <visualization_msgs/msg/interactive_marker_control.hpp> 302 #include <visualization_msgs/msg/interactive_marker_feedback.hpp> 303 #include <visualization_msgs/srv/get_interactive_markers.hpp> 304 305 //diagnostic_msgs 306 #include <diagnostic_msgs/msg/key_value.hpp> 307 #include <diagnostic_msgs/msg/diagnostic_array.hpp> 308 #include <diagnostic_msgs/msg/diagnostic_status.hpp> 309 #include <diagnostic_msgs/srv/self_test.hpp> 310 #include <diagnostic_msgs/srv/add_diagnostics.hpp> 311 312 //test_msgs 313 #include <test_msgs/msg/empty.hpp> 314 #include <test_msgs/msg/arrays.hpp> 315 #include <test_msgs/msg/nested.hpp> 316 #include <test_msgs/msg/strings.hpp> 317 #include <test_msgs/msg/builtins.hpp> 318 #include <test_msgs/msg/defaults.hpp> 319 #include <test_msgs/msg/constants.hpp> 320 #include <test_msgs/msg/w_strings.hpp> 321 #include <test_msgs/msg/basic_types.hpp> 322 #include <test_msgs/msg/multi_nested.hpp> 323 #include <test_msgs/msg/bounded_sequences.hpp> 324 #include <test_msgs/msg/unbounded_sequences.hpp> 325 #include <test_msgs/srv/empty.hpp> 326 #include <test_msgs/srv/arrays.hpp> 327 #include <test_msgs/srv/basic_types.hpp> 328 #include <test_msgs/action/fibonacci.hpp> 329 #include <test_msgs/action/nested_message.hpp> 330 331 //action_msgs 332 #include <action_msgs/msg/goal_info.hpp> 333 #include <action_msgs/msg/goal_status.hpp> 334 #include <action_msgs/msg/goal_status_array.hpp> 335 #include <action_msgs/srv/cancel_goal.hpp> 336 337 //actionlib_msgs 338 #include <actionlib_msgs/msg/goal_id.hpp> 339 #include <actionlib_msgs/msg/goal_status.hpp> 340 #include <actionlib_msgs/msg/goal_status_array.hpp> 341 342 //lifecycle_msgs 343 #include <lifecycle_msgs/msg/state.hpp> 344 #include <lifecycle_msgs/msg/transition.hpp> 345 #include <lifecycle_msgs/msg/transition_event.hpp> 346 #include <lifecycle_msgs/msg/transition_description.hpp> 347 #include <lifecycle_msgs/srv/get_state.hpp> 348 #include <lifecycle_msgs/srv/change_state.hpp> 349 #include <lifecycle_msgs/srv/get_available_states.hpp> 350 #include <lifecycle_msgs/srv/get_available_transitions.hpp> 351 352 //rosgraph_msgs 353 #include <rosgraph_msgs/msg/clock.hpp> 354 355 //pendulum_msgs 356 #include <pendulum_msgs/msg/joint_state.hpp> 357 #include <pendulum_msgs/msg/joint_command.hpp> 358 #include <pendulum_msgs/msg/rttest_results.hpp> 359 360 //composition_interfaces 361 #include <composition_interfaces/srv/load_node.hpp> 362 #include <composition_interfaces/srv/list_nodes.hpp> 363 #include <composition_interfaces/srv/unload_node.hpp> 364 365 //unique_identifier_msgs 366 #include <unique_identifier_msgs/msg/uuid.hpp> 367 368 //tf2_msgs 369 #include <tf2_msgs/msg/tf2_error.hpp> 370 #include <tf2_msgs/msg/tf_message.hpp> 371 #include <tf2_msgs/srv/frame_graph.hpp> 372 #include <tf2_msgs/action/lookup_transform.hpp> 373 374 //tf2_sensor_msgs 375 376 //tf2_geometry_msgs 377 378 #endif
3.ROS2测试用例与MAROS提取脚本
依赖于OpenCV、ROS2和Spdlog，封装为类MATEST：
(1)AirRobot：发布结点，终端一执行 ./mattest airRobot。
(2)LandRobot：订阅结点，终端一执行 ./mattest landRobot。
(3)createWebotsHPP：提取Webots的所有HPP头文件(去掉注释也可提取所有H头文件)。
(4)createROSHPP：提取ROS2相关包的所有HPP头文件(按相应格式追加包即可提取对应包的所有HPP头文件)。
(5)globPaths：获取所有文件或目录或文件目录。
(6)serialPath：获取指定基名和扩展名的尚不存在的路径。
1 #ifndef __MATEST_h__ 2 #define __MATEST_h__ 3 4 #include <cscv/macxx.h> 5 6 #ifndef tsns 7 #define tsns chrono::time_point_cast<chrono::nanoseconds>(chrono::system_clock::now()).time_since_epoch().count() 8 #define tsus chrono::time_point_cast<chrono::microseconds>(chrono::system_clock::now()).time_since_epoch().count() 9 #define tsms chrono::time_point_cast<chrono::milliseconds>(chrono::system_clock::now()).time_since_epoch().count() 10 #define tsse chrono::time_point_cast<chrono::seconds>(chrono::system_clock::now()).time_since_epoch().count() 11 #define tsmi chrono::time_point_cast<chrono::minutes>(chrono::system_clock::now()).time_since_epoch().count() 12 #define tsho chrono::time_point_cast<chrono::hours>(chrono::system_clock::now()).time_since_epoch().count() 13 #endif 14 15 class MATEST 16 { 17 public: 18 static void AirRobot(int argc = 0, char** argv = 0) 19 { 20 //0.InitROS 21 rclcpp::init(argc, argv); 22 23 //1.PreROS 24 int64 nPubFrame = 0; 25 rclcpp::Node::SharedPtr nodAirRobot = rclcpp::Node::make_shared("airRobot", "acv"); 26 rclcpp::Publisher<ssrmsg::Image>::SharedPtr pubRawFrame = nodAirRobot->create_publisher<ssrmsg::Image>("rawFrame", 2); 27 rclcpp::TimerBase::SharedPtr TimerTimestamp = nodAirRobot->create_wall_timer(200ms, [&]()->void 28 { 29 //1.PrepareData 30 int64 ts = tsns; 31 ssrmsg::Image::UniquePtr ima = make_unique<ssrmsg::Image>(); 32 ima->header.frame_id = std::to_string(++nPubFrame); 33 ima->header.stamp.sec = ts / 1000000000; 34 ima->header.stamp.nanosec = ts % 1000000000; 35 ima->width = 640; 36 ima->height = 480; 37 ima->step = 3 * ima->width; 38 ima->is_bigendian = 0; 39 ima->encoding = CV_8UC3; 40 ima->data.assign(ima->step * ima->height, 128); 41 cv::putText(Mat_<Vec3b>(ima->height, ima->width, (Vec3b*)ima->data.data()), ima->header.frame_id, Point(300, 220), FONT_HERSHEY_PLAIN, 4, Scalar(255, 0, 0), 4); 42 43 //2.PublishData 44 pubRawFrame->publish(std::move(ima)); 45 46 //3.PrintDetails 47 spdlog::info("nPubFrame: {}", nPubFrame); 48 spdlog::info("\tNode::get_name: {}", nodAirRobot->get_name()); 49 spdlog::info("\tNode::get_namespace: {}", nodAirRobot->get_namespace()); 50 spdlog::info("\tNode::get_sub_namespace: {}", nodAirRobot->get_sub_namespace()); 51 spdlog::info("\tNode::get_effective_namespace: {}", nodAirRobot->get_effective_namespace()); 52 spdlog::info("\tNode::get_fully_qualified_name: {}", nodAirRobot->get_fully_qualified_name()); 53 }); 54 55 //2.SpinROS 56 rclcpp::spin(nodAirRobot); 57 58 //3.StopROS 59 rclcpp::shutdown(); 60 } 61 62 static void LandRobot(int argc = 0, char** argv = 0) 63 { 64 //0.InitROS 65 rclcpp::init(argc, argv); 66 67 //1.PreROS 68 int64 nSubRawFrame = 0; 69 rclcpp::Node::SharedPtr nodLandRobot = rclcpp::Node::make_shared("landRobot", "acv"); 70 rclcpp::Subscription<ssrmsg::Image>::SharedPtr subRawFrame = nodLandRobot->create_subscription<ssrmsg::Image>("rawFrame", 2, [&](ssrmsg::Image::UniquePtr frame) 71 { 72 cv::imshow("RawFrame", Mat_<Vec3b>(frame->height, frame->width, (Vec3b*)frame->data.data())); 73 cv::waitKey(10); 74 spdlog::info("nSubRawFrame: {}", ++nSubRawFrame); 75 spdlog::info("\tNode::get_name: {}", nodLandRobot->get_name()); 76 spdlog::info("\tNode::get_namespace: {}", nodLandRobot->get_namespace()); 77 spdlog::info("\tNode::get_sub_namespace: {}", nodLandRobot->get_sub_namespace()); 78 spdlog::info("\tNode::get_effective_namespace: {}", nodLandRobot->get_effective_namespace()); 79 spdlog::info("\tNode::get_fully_qualified_name: {}", nodLandRobot->get_fully_qualified_name()); 80 }); 81 82 //2.SpinROS 83 rclcpp::spin(nodLandRobot); 84 85 //3.StopROS 86 rclcpp::shutdown(); 87 } 88 89 public: 90 static void createWebotHPP(string webotsHomePath = "/usr/local/webots") 91 { 92 string hDir = webotsHomePath + "/include/controller/c/webots"; 93 string hppDir = webotsHomePath + "/include/controller/cpp/webots"; 94 vector<string> webotsHs = globPaths(hDir, "*.h", 0, true); 95 vector<string> webotsHpps = globPaths(hppDir, "*.hpp", 0, true); 96 FILE* file = fopen(serialPath(webotsHomePath, "abc", "hpp", -1).c_str(), "w"); 97 //for (size_t k = 0; k < webotsHs.size(); ++k) fprintf(file, "#include <webots%s>\n", webotsHs[k].substr(hDir.size()).c_str()); //C 98 for (size_t k = 0; k < webotsHpps.size(); ++k) fprintf(file, "#include <webots%s>\n", webotsHpps[k].substr(hppDir.size()).c_str());//CPP 99 fclose(file); 100 } 101 102 static void createROSHPP(string rosHomePath = "/opt/ros/foxy") 103 { 104 //0. 105 auto writeROSHPP = [](string modDir, int choice/*1=cur 2=msg 4=srv 8=action*/, FILE* file)->void 106 { 107 string modName = modDir.substr(modDir.find_last_of('/') + 1); 108 string msgDir = modDir + "/msg"; 109 string srvDir = modDir + "/srv"; 110 string actionDir = modDir + "/action"; 111 vector<string> selfHeaders = cv::utils::fs::exists(modDir) && choice & 1 ? globPaths(modDir, "*.hpp", 0, false) : vector<string>(); 112 vector<string> msgHeaders = cv::utils::fs::exists(msgDir) && choice & 2 ? globPaths(msgDir, "*.hpp", 0, false) : vector<string>(); 113 vector<string> srvHeaders = cv::utils::fs::exists(srvDir) && choice & 4 ? globPaths(srvDir, "*.hpp", 0, false) : vector<string>(); 114 vector<string> actionHeaders = cv::utils::fs::exists(actionDir) && choice & 8 ? globPaths(actionDir, "*.hpp", 0, false) : vector<string>(); 115 vector<string> allHeaders = { "\n//" + modName + "\n" }; 116 for (size_t k = 0; k < selfHeaders.size(); ++k) 117 if (selfHeaders[k].find("__") == string::npos && selfHeaders[k].find("impl") == string::npos) 118 allHeaders.push_back("#include <" + modName + selfHeaders[k].substr(selfHeaders[k].find_last_of('/')) + ">\n"); 119 for (size_t k = 0; k < msgHeaders.size(); ++k) 120 if (msgHeaders[k].find("__") == string::npos && msgHeaders[k].find("impl") == string::npos) 121 allHeaders.push_back("#include <" + modName + "/msg" + msgHeaders[k].substr(msgHeaders[k].find_last_of('/')) + ">\n"); 122 for (size_t k = 0; k < srvHeaders.size(); ++k) 123 if (srvHeaders[k].find("__") == string::npos && srvHeaders[k].find("impl") == string::npos) 124 allHeaders.push_back("#include <" + modName + "/srv" + srvHeaders[k].substr(srvHeaders[k].find_last_of('/')) + ">\n"); 125 for (size_t k = 0; k < actionHeaders.size(); ++k) 126 if (actionHeaders[k].find("__") == string::npos && actionHeaders[k].find("impl") == string::npos) 127 allHeaders.push_back("#include <" + modName + "/action" + actionHeaders[k].substr(actionHeaders[k].find_last_of('/')) + ">\n"); 128 if (file != nullptr) for (size_t k = 0; k < allHeaders.size(); ++k) fprintf(file, allHeaders[k].c_str()); 129 //return allHeaders; 130 }; 131 FILE* file = fopen(serialPath(rosHomePath, "abc", "hpp", -1).c_str(), "w"); 132 rosHomePath += "/include"; 133 134 //1:Cores 135 writeROSHPP(rosHomePath + "/ament_index_cpp", 1, file); //depend on env AMENT_PREFIX_PATH 136 writeROSHPP(rosHomePath + "/rclcpp", 1, file); 137 writeROSHPP(rosHomePath + "/rclcpp_action", 1, file); 138 139 //2:Standards 140 writeROSHPP(rosHomePath + "/std_msgs", 14, file); 141 writeROSHPP(rosHomePath + "/std_srvs", 14, file); 142 writeROSHPP(rosHomePath + "/builtin_interfaces", 14, file); 143 writeROSHPP(rosHomePath + "/sensor_msgs", 15, file); 144 writeROSHPP(rosHomePath + "/geometry_msgs", 14, file); 145 writeROSHPP(rosHomePath + "/trajectory_msgs", 14, file); 146 writeROSHPP(rosHomePath + "/move_base_msgs", 14, file); 147 writeROSHPP(rosHomePath + "/stereo_msgs", 14, file); 148 writeROSHPP(rosHomePath + "/shape_msgs", 14, file); 149 writeROSHPP(rosHomePath + "/map_msgs", 14, file); 150 writeROSHPP(rosHomePath + "/nav_msgs", 14, file); 151 writeROSHPP(rosHomePath + "/visualization_msgs", 14, file); 152 153 //3.Introspections 154 writeROSHPP(rosHomePath + "/diagnostic_msgs", 14, file); 155 writeROSHPP(rosHomePath + "/test_msgs", 14, file); 156 writeROSHPP(rosHomePath + "/action_msgs", 14, file); 157 writeROSHPP(rosHomePath + "/actionlib_msgs", 14, file); 158 writeROSHPP(rosHomePath + "/lifecycle_msgs", 14, file); 159 writeROSHPP(rosHomePath + "/rosgraph_msgs", 14, file); 160 writeROSHPP(rosHomePath + "/pendulum_msgs", 14, file); 161 writeROSHPP(rosHomePath + "/composition_interfaces", 14, file); 162 writeROSHPP(rosHomePath + "/unique_identifier_msgs", 14, file); 163 164 //4:SalientFields: TF2+URDF 165 writeROSHPP(rosHomePath + "/tf2_msgs", 14, file); 166 writeROSHPP(rosHomePath + "/tf2_sensor_msgs", 14, file); 167 writeROSHPP(rosHomePath + "/tf2_geometry_msgs", 14, file); 168 169 // 170 fclose(file); 171 } 172 173 public: 174 static vector<string> globPaths(string dir, string pattern = "*", int type = 0/*0=file 1=dir 2=all*/, bool recursive = false) 175 { 176 //0.FormatInput 177 if (utils::fs::exists(dir) == false) return vector<string>(); 178 179 //1.RecurPaths 180 vector<string> srcPaths; 181 utils::fs::glob(dir, pattern, srcPaths, recursive, true); 182 for (size_t k = 0, pos = 0; k < srcPaths.size(); ++k) 183 for (size_t ind = 0; ; ++ind) 184 { 185 ind = srcPaths[k].find('\\', ind); 186 if (ind != string::npos) srcPaths[k].replace(ind, 1, "/"); 187 else break; 188 } 189 190 //2.ClassifyPaths 191 vector<string> dirPaths, filePaths; 192 for (size_t k = 0; k < srcPaths.size(); ++k) utils::fs::isDirectory(srcPaths[k]) ? dirPaths.push_back(srcPaths[k]) : filePaths.push_back(srcPaths[k]); 193 194 //3.SortPaths 195 if (dirPaths.size() > 1) stable_sort(dirPaths.begin(), dirPaths.end(), less<string>()); 196 if (dirPaths.size() > 1) stable_sort(dirPaths.begin(), dirPaths.end(), [](string str1, string str2)->bool {return str1.length() < str2.length(); }); 197 if (filePaths.size() > 1) stable_sort(filePaths.begin(), filePaths.end(), less<string>()); 198 if (filePaths.size() > 1) stable_sort(filePaths.begin(), filePaths.end(), [](string str1, string str2)->bool {return str1.length() < str2.length(); }); 199 200 //4.CollectPaths 201 if (type == 0) return filePaths; 202 if (type == 1) return dirPaths; 203 if (type == 2) for (size_t k = 0; k < dirPaths.size(); ++k) filePaths.push_back(dirPaths[k]); 204 return filePaths; 205 } 206 207 static string serialPath(string dir, string basename, string extname = ""/*empty for directory*/, int64 firstId = -1/*negtive for maximum*/) 208 { 209 if (firstId >= 0) 210 { 211 string fullPath; 212 do 213 { 214 fullPath = fmt::format("{}/{}{}{}", dir, basename, firstId, (extname.empty() ? extname : "." + extname)); 215 if (utils::fs::exists(fullPath) == false) break; 216 } while (++firstId); 217 return fullPath; 218 } 219 else 220 { 221 vector<string> paths = globPaths(dir, basename + "*", extname.empty() ? 1 : 0, false); 222 if (paths.empty()) return fmt::format("{}/{}{}{}", dir, basename, 0, (extname.empty() ? extname : "." + extname)); 223 if (extname.empty()) 224 { 225 int64 ind = paths[paths.size() - 1].find(basename) + basename.length(); 226 int64 id = atoll(paths[paths.size() - 1].substr(ind).c_str()) + 1; 227 return fmt::format("{}/{}{}", dir, basename, id); 228 } 229 else 230 { 231 int64 ind1 = paths[paths.size() - 1].find(basename) + basename.length(); 232 int64 ind2 = paths[paths.size() - 1].find_last_of("."); 233 int64 id = atoll(paths[paths.size() - 1].substr(ind1, ind2 - ind1).c_str()) + 1; 234 return fmt::format("{}/{}{}.{}", dir, basename, id, extname); 235 } 236 } 237 } 238 }; 239 240 #ifdef MATESTTest 241 int main(int argc, char** argv) 242 { 243 if (argc < 2) { spdlog::critical("appName nodeName(airRobot/landRobot)"); return -1; } 244 245 if (strcmp(argv[1], "airRobot") == 0) MATEST::AirRobot(argc, argv); 246 else if (strcmp(argv[1], "landRobot") == 0) MATEST::LandRobot(argc, argv); 247 248 return 0; 249 } 250 int main1(int argc, char** argv) 251 { 252 if (argc < 2) { spdlog::critical("appName nodeName(airRobot/landRobot)"); return -1; } 253 254 if (strcmp(argv[1], "airRobot") == 0) MATEST::AirRobot(argc, argv); 255 else if (strcmp(argv[1], "landRobot") == 0) MATEST::LandRobot(argc, argv); 256 257 return 0; 258 } 259 int main2(int argc, char** argv) 260 { 261 if (argc < 3) spdlog::critical("Usage: appName whichLib(ros or webots) homePath(/usr/local/webots or /opt/ros/foxy)"); 262 else spdlog::info("Save the result to {}/abcx.xxx", argv[2]); 263 if (argc >= 3 && strcmp(argv[1], "ros") == 0) MATEST::createROSHPP(argv[2]); 264 if (argc >= 3 && strcmp(argv[1], "webots") == 0) MATEST::createWebotHPP(argv[2]); 265 266 return 0; 267 } 268 #endif 269 270 #endif
Asio、
