第1章 实验指导书：ROS 2 环境搭建与课程仿真入门

source /opt/ros/humble/setup.bash
source /workspace/install/setup.bash
ros2 launch robot_sim_demo gazebo2.launch.py \
  gui:=false rviz:=false drive:=false

source /opt/ros/humble/setup.bash
source ~/ros2_course_k3_ws/install/setup.bash
ros2 node list
ros2 topic echo /clock --once
ros2 topic info /scan
ros2 topic echo /odom --once

echo $ROS_DISTRO
# 期望输出：humble
 
ros2 --help
# 期望：显示 ros2 命令列表

# 终端1：启动发布者
source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp talker
# 期望：[INFO] Publishing: "Hello World: 0"
 
# 终端2：启动订阅者
source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp listener
# 期望：[INFO] I heard: "Hello World: X"
 
# 终端3：查看节点和话题
ros2 node list        # 期望：/talker /listener
ros2 topic echo /chatter   # 期望：data: 'Hello World: X'

# 1. 创建工作空间
mkdir -p ~/my_ros2_ws/src
cd ~/my_ros2_ws
 
# 2. 编译空工作空间
colcon build --symlink-install
 
# 3. 创建测试包
cd src
ros2 pkg create my_first_pkg --build-type ament_cmake \
  --dependencies rclcpp std_msgs
 
# 4. 编译测试包
cd ~/my_ros2_ws
colcon build --packages-select my_first_pkg --symlink-install
source install/setup.bash
 
# 5. 验证
ros2 pkg list | grep my_first

# 终端1：域0 talker
export ROS_DOMAIN_ID=0
ros2 run demo_nodes_cpp talker
 
# 终端2：域0 listener → 正常接收
export ROS_DOMAIN_ID=0
ros2 run demo_nodes_cpp listener
# Ctrl+C 停止

# 终端2：域1 listener → 无输出（域隔离）
export ROS_DOMAIN_ID=1
ros2 run demo_nodes_cpp listener
# 期望：无任何输出（无法跨域通信）

cd ~/ros2_course_k3_ws
ls src/course/

cd ~/ROS2_RISCV
bash setup_course_k3.sh --dry-run
bash setup_course_k3.sh

source ~/.config/ros2-course-k3/env.bash
cd ~/ros2_course_k3_ws
colcon build --base-paths src/course --symlink-install --executor sequential
source install/setup.bash
ros2 pkg list | grep demo

source /opt/ros/humble/setup.bash
source /workspace/install/setup.bash
ros2 launch robot_sim_demo gazebo2.launch.py gui:=true rviz:=true drive:=false

source /opt/ros/humble/setup.bash
source /workspace/install/setup.bash
ros2 launch robot_sim_demo gazebo2.launch.py gui:=true rviz:=true drive:=false
# 期望：Gazebo 窗口 + RViz 窗口同时打开
# Gazebo 中显示 Museum 场景 + TurtleBot3 Burger 机器人

# 新开终端
source ~/ros2_course_k3_ws/install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard
# 按 i 前进，k 停止，j/l 左右转
# 观察 RViz 和 Gazebo 中机器人运动

source ~/.config/ros2-course-k3/env.bash
source ~/ros2_course_k3_ws/install/setup.bash
ros2 topic list -t | grep -E "scan|rgbd|camera|image|depth|camera_info"
ros2 topic hz /scan
ros2 topic hz /camera/image_raw
ros2 topic hz /camera/camera_info

#include <chrono>
#include <functional>
#include <memory>
 
#include "geometry_msgs/msg/twist.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
using namespace std::chrono_literals;
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
class LifecycleDemo : public rclcpp_lifecycle::LifecycleNode
{
public:
  LifecycleDemo()
  : LifecycleNode("hello_ros2_lifecycle"), count_(0)
  {
    const bool autostart = declare_parameter<bool>("autostart", false);
    RCLCPP_INFO(get_logger(), "LIFECYCLE_READY autostart=%s", autostart ? "true" : "false");
  }
 
  bool autostart()
  {
    if (!get_parameter("autostart").as_bool()) {
      return true;
    }
    return trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE).id() ==
           lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE &&
           trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE).id() ==
           lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE;
  }
 
  CallbackReturn on_configure(const rclcpp_lifecycle::State &)
  {
    publisher_ = create_publisher<geometry_msgs::msg::Twist>(
      "/cmd_vel", rclcpp::QoS(10).reliable().durability_volatile());
    timer_ = create_wall_timer(500ms, std::bind(&LifecycleDemo::publish, this));
    RCLCPP_INFO(get_logger(), "LIFECYCLE_CONFIGURED");
    return CallbackReturn::SUCCESS;
  }
 
  CallbackReturn on_activate(const rclcpp_lifecycle::State &)
  {
    publisher_->on_activate();
    RCLCPP_INFO(get_logger(), "LIFECYCLE_ACTIVE");
    return CallbackReturn::SUCCESS;
  }
 
  CallbackReturn on_deactivate(const rclcpp_lifecycle::State &)
  {
    publish_zero();
    publisher_->on_deactivate();
    RCLCPP_INFO(get_logger(), "LIFECYCLE_INACTIVE");
    return CallbackReturn::SUCCESS;
  }
 
  CallbackReturn on_cleanup(const rclcpp_lifecycle::State &)
  {
    timer_.reset();
    publisher_.reset();
    count_ = 0;
    RCLCPP_INFO(get_logger(), "LIFECYCLE_CLEANED_UP");
    return CallbackReturn::SUCCESS;
  }
 
  CallbackReturn on_shutdown(const rclcpp_lifecycle::State &)
  {
    publish_zero();
    if (publisher_ && publisher_->is_activated()) {
      publisher_->on_deactivate();
    }
    RCLCPP_INFO(get_logger(), "LIFECYCLE_SHUTDOWN");
    return CallbackReturn::SUCCESS;
  }
 
private:
  void publish()
  {
    if (!publisher_ || !publisher_->is_activated()) {
      return;
    }
    geometry_msgs::msg::Twist message;
    message.linear.x = 0.1;
    publisher_->publish(message);
    ++count_;
    RCLCPP_INFO(get_logger(), "CMD_VEL_PUBLISHED count=%zu", count_);
  }
 
  void publish_zero()
  {
    if (publisher_ && publisher_->is_activated()) {
      publisher_->publish(geometry_msgs::msg::Twist());
      RCLCPP_INFO(get_logger(), "CMD_VEL_ZERO");
    }
  }
 
  rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
  rclcpp::TimerBase::SharedPtr timer_;
  std::size_t count_;
};
 
int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);
  auto node = std::make_shared<LifecycleDemo>();
  if (!node->autostart()) {
    RCLCPP_ERROR(node->get_logger(), "LIFECYCLE_AUTOSTART_FAILED");
    rclcpp::shutdown();
    return 1;
  }
  rclcpp::spin(node->get_node_base_interface());
  rclcpp::shutdown();
  return 0;
}

source ~/.config/ros2-course-k3/env.bash
cd ~/ros2_course_k3_ws
colcon build --base-paths src/course --packages-select lifecycle_demo_cpp
source install/setup.bash

{
  "version": "0.2.0",
  "configurations": [
    {
      "name": "K3: lifecycle C++ (GDB)",
      "type": "gdb",
      "request": "launch",
      "target": "${env:HOME}/ros2_course_k3_ws/install/lifecycle_demo_cpp/lib/lifecycle_demo_cpp/lifecycle_demo",
      "cwd": "${workspaceFolder}",
      "gdbpath": "${env:HOME}/.config/ros2-course-k3/gdb.bash",
      "pathSubstitutions": {
        "${env:HOME}/ros2_course_k3_ws/src/course": "${workspaceFolder}/src_k3_pico_itx"
      },
      "autorun": ["set debuginfod enabled off", "set non-stop on"],
      "stopAtEntry": true
    }
  ]
}

source ~/.config/ros2-course-k3/env.bash
source ~/ros2_course_k3_ws/install/setup.bash
cd ~/ros2_course_k3_ws/build/lifecycle_demo_cpp
cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON .
# 课程根目录尚无编译数据库时建立链接；已有文件先检查，不覆盖。
if [ -e ~/ROS2_RISCV/compile_commands.json ] || [ -L ~/ROS2_RISCV/compile_commands.json ]; then
  ls -ld ~/ROS2_RISCV/compile_commands.json
  printf '编译数据库已存在，请核对是否适用于本包。\n'
else
  ln -s ~/ros2_course_k3_ws/build/lifecycle_demo_cpp/compile_commands.json \
    ~/ROS2_RISCV/compile_commands.json
fi