ROS

  • PlotJuggler
apt-get install ros-melodic-plotjuggler ros-melodic-plotjuggler-ros

example

环境搭建

# 更换阿里源
sed -i 's/cn.archive.ubuntu.com/mirrors.aliyun.com/' /etc/apt/sources.list
sed -i 's/archive.ubuntu.com/mirrors.aliyun.com/' /etc/apt/sources.list
sed -i 's/ports.ubuntu.com/mirrors.aliyun.com/' /etc/apt/sources.list # arm

#  添加 ROS源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
sudo apt-get update

#apt-cache search ros-kinetic
sudo apt-get install ros-melodic-desktop-full --yes --allow-unauthenticated

# sudo apt-get install ros-kinetic-slam-gmapping -y # 地图建模

sudo rosdep init
rosdep update
sudo apt-get install python-rosinstall \
                     python-rosinstall-generator \
                     python-wstool \
                     build-essential --yes --allow-unauthenticated
source /opt/ros/kinetic/setup.sh

########################################
# install  ros melodic  on ubuntu 18.04
########################################
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
rosdep update

sudo apt install ros-melodic-desktop-full
# sudo apt-get install rosbash
# sudo apt-get install ros-melodic-rosbash ros-melodic-rosbash-params # install and reboot , roscd
sudo apt-get install ros-${ROS_DISTRO}-rosbash ros-${ROS_DISTRO}-rosbash-params

apt-cache search ros-melodic

# 小乌龟
source /opt/ros/melodic/setup.sh
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

常用命令

roscore

rqt_graph   #  查看节点关系

echo $ROS_PACKAGE_PATH

catkin_init_workspace

catkin_create_pkg <package_name> [depend1] [depend2] ... [dependn]
#catkin_create_pkg learning_communication std_msgs rospy roscpp
catkin_make

## 只编译白名单
catkin_make -DCATKIN_WHITELIST_PACKAGES="ros_pyqt;pyqt_gui;rqt_gui"
## 不编译,黑名单列表里面的包
catkin_make -DCATKIN_BLACKLIST_PACKAGES="dyn_cfg_gui;qt_ros_test;ros_cmake;qt4rosgui;test_gui;vizlib_test;rqt_mypkg;ros_cv_gui"

rosrun [package_name] [node_name]

rosnode

rosnode list                # 获得运行节点列表
rosnode info node-name      # 获得特定节点的信息
rosnode ping node-name      # 测试节点是否连通
rosnode kill node-name      # 终止节点

rospack

rospack -h

rosparam

rosparam set     set parameter             设置参数
rosparam get     get parameter             获得参数值
rosparam load    load parameters from file 从文件中加载参数到参数服务器
rosparam dump    dump parameters to file   将参数服务器中的参数写入到文件
rosparam delete  delete parameter          删除参数
rosparam list    list parameter names      列出参数服务器中的参数

rostopic

 rostopic -h

 rostopic type /sent_messages
 rosmsg info can_msgs/Frame

 #                           src topic   =>    des topic
 rosrun topic_tools relay /cv_camera/image_raw /camera/image_raw

 rostopic pub /chatter std_msgs/String  'hello'  # 发一次
 rostopic pub /chatter std_msgs/String -r 1 -- '{data: hello}' # 一秒发一次

 rostopic pub  /sent_messages can_msgs/Frame  -r 1 -- \
'{header: auto,id: 15, is_rtr: 0,is_extended: 0,is_error: 0,dlc: 8,data: [1,2,3,4,5,6,7,9]}'

roslaunch

一 node标签

    在<node>标签指定一个ROS 节点，这是最常见的roslaunch标签, 因为它支持最重要的功能: 启动和关闭节点。

    roslaunch不保证节点开始的顺序。
    因为没有办法从外部知道节点何时被完全初始化,所以所有被启动的节点必须是稳健的，以便以任何顺序启动。

二 示例

    <node name ="listener1" pkg ="rospy_tutorials" type ="listener.py" args =" -  test" respawn ="true"/>
        启动"listener1" 节点，使用listener.py从可执行rospy_tutorials 包与所述命令行参数--test。
        如果节点死亡，它将自动重新生成。

    <node name ="bar1" pkg ="foo_pkg" type ="bar" args ="$(find baz_pkg)/resources/map.pgm"/>
        从foo_pkg包中启动bar1节点。此示例使用替换参数将可移植引用传递到 baz_pkg/resources/map.pgm .

三 属性

    pkg ="mypackage" 节点包。
    type ="nodetype"
        节点类型。必须有一个具有相同名称的相应可执行文件。
    name ="nodename"
        节点基名称。注意：name不能包含命名空间。请改用ns属性。

    args ="arg1 arg2 arg3" （可选）
        传递参数到节点。
    machine =“machine-name” （可选）
        在指定机器上启动节点。

    respawn ="true" （可选）
        如果节点退出，则自动重新启动节点。
    respawn_delay ="30" （可选，默认为0）ROS indigo中的新功能
        如果respawn为true，请在尝试重新启动之前检测到节点故障后等待respawn_delay秒。

    required = "true" （可选）
        ROS 0.10：如果节点死亡，杀死整个roslaunch。

    ns ="foo" （可选）
        在"foo"命名空间中启动节点。
    clear_params ="true | false" （可选）
        在启动前删除节点的私有命名空间中的所有参数。
    output =“log | screen” （可选）

        如果'screen'，stdout / stderr从节点将被发送到屏幕。
        如果是“log”，stdout / stderr输出将被发送到 $ROS_HOME/log中的日志文件，
        stderr将继续发送到屏幕。默认值为“log”。
    cwd =“ROS_HOME | node” （可选）
        如果为“node”，则节点的工作目录将设置为与节点的可执行文件相同的目录。
        在C Turtle中，默认值为“ROS_HOME”。在Box Turtle（ROS 1.0.x）中，默认值是'ros-root'。
        使用'ros-root'在C Turtle中已被弃用。

    launch-prefix ="prefix arguments" （可选）

        用于预先添加到节点的启动参数的命令/参数。
        这是一个强大的功能，使您能够启用gdb，valgrind，xterm，漂亮或其他方便的工具。

四 元素

    您可以在<node>标记中使用以下XML 标签：

    <env>
        为节点设置环境变量。

    <remap>
        为此节点设置重新映射参数。
        <remap from="/original_name" to="/new_name"/>

    <rosparam>
        将rosparam文件加载到此节点的〜 / local命名空间中。

        <rosparam file="$(find 2dnav_pr2)/config/costmap_common_params.yaml"
                command="load" ns="local_costmap" />

    <param>
        在节点的〜 / local命名空间中设置一个参数。

rosbag

rosbag -h

rosbag record -a
rosbag record /topic_name1 /topic_name2 /topic_name3
rosbag record -O/-o filename.bag /topic_name1 #  -O (大写) 后跟录制数据包的名字。
                                              #  -o（小写）则只是给数据包的名字加前缀。

rosbag record -a -O filename.bag -x "/monitor/(.*)" #记录过滤掉/monitor/*之外的其他topic

# 在运行rosbag record命令的窗口中按Ctrl-C退出该命令，即结束数据记录。

# 现在在~/bagfiles目录中应该会看到一个以日期和时间命名并以.bag作为后缀的 rosbag 文件，
# 它包含rosbag record运行期间发布的 topic。

如果在 launch 文件中使用 rosbag record 命令，如下

<node pkg="rosbag" type="record" name="bag_record" args="/topic1 /topic2"/>

默认存放路径是 ~/.ros 中。

rosbag info filename.bag
  • 回放
rosparam set /use_sim_time true # 使用的是仿真时间

# launch文件 设置
# <param name="use_sim_time" value="false" />



rosbag play <bagfile>
rosbag play ros.bag  /original_name:=/new_name  # rosbag remap topoic name
rosbag play -r 2 <bagfile> # 两倍的速度发布topic。 -r 后面的数字对应播放速率。
rosbag play -l  <bagfile>  # -l == --loop  循环播放
rosbag play <bagfile> --topics /topic1  # 只播放感兴趣的 topic
rosbag play <bagfile> -d <sec> # 等待一定时间之后发布bag文件中的内容 ;  rosbag  help play  | grep delay

# 在上述播放命令执行期间，空格键可以暂停播放。
  • 过滤
rosbag filter IN.bag OUT.bag 'topic == "/turtle1/command_velocity"'
rosbag filter skoda.bag skoda_filter.bag  "topic == '/BrakeCmd' or topic == '/SteeringCmd' or topic == '/ThrottleCmd' or topic== '/rosout' or topic=='/rosout_agg'"
  • 压缩 compress
# 有时候我们的包太大了，会导致打开很慢。比如25G的KITTI数据包可能需要10分钟打开。
# rosbag提供了两种压缩格式：BZ2和LZ4。
# 其中BZ2占用硬盘小，但播放慢。LZ4虽然对体积的压缩不多，但打开速度提高了数倍。
# 另外，此命令会自动备份要压缩的数据包，命名会加一个origin，所以无需担心。

rosbag compress --lz4 slam_2019-12-14-23-24-43_filter.bag

————————————————

原文链接：https://blog.csdn.net/a850565178/article/details/105820624

rosdep

rosdep install AMAZING_PACKAGE
rosdep install --from-paths src --ignore-src -r -y # 用于安装工作空间中所有包的依赖项
  • rosdep update一直timeout的问题 !
find  /usr/lib/python2.7/dist-packages/rosdep2/ -name "*.py" | xargs grep -n  "DOWNLOAD_TIMEOUT\ ="

#  将  DOWNLOAD_TIMEOUT = 15.0 的值，改大一点就可以了

知识点

CATKIN_IGNORE

touch /path/to/catkin_ws/your/package/CATKIN_IGNORE

ROSINFO

export ROSCONSOLE_FORMAT='[${severity}] [${time}]${node}--${function}-${line}: ${message}'

# ${line}     for __LINE__
# ${function} for __func__
# ${file}     for __FILE__
# ${node}     for the node name, no pre-processor equivalent.

package

  • image_transport

    # 解压缩
# /cv_camera/image_raw/compressed  => /cv_camera/image_decompressed
rosrun image_transport republish compressed in:=/cv_camera/image_raw \
                                           out:=/cv_camera/image_decompressed

# /simulator/camera_node/image/compressed  => /image_raw
rosrun image_transport republish compressed in:=/simulator/camera_node/image \
                                           out:=/cv_camera/image_decompressed

    <launch>
    <node name="image_decompresser" type="republish" pkg="image_transport" output="screen" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw">
    </node>
</launch>

  • 订阅 rtsp topic 发送 rtsp - ros_rtsp

  • rocon_rtsp_camera_relay
    mkdir -p  work_dir/src
cd  work_dir/src
git clone  --depth 1 https://github.com/robotics-in-concert/rocon_devices.git
cd ../
catkin_make

source devel/setup.zsh

# export ROCON_RTSP_CAMERA_RELAY_URL=rtsp://wowzaec2demo.streamlock.net/vod/mp4:BigBuckBunny_115k.mov # public rtsp test url
export ROCON_RTSP_CAMERA_RELAY_URL=rtsp://192.168.2.100:5540/ch0
roslaunch rocon_rtsp_camera_relay rtsp_camera_relay.launch --screen

rosrun rqt_image_view rqt_image_view /rtsp_camera_relay/image

 tar xzvf flycapture2-2.13.3.31-amd64-pkg_Ubuntu18.04.tgz
 cd flycapture2-2.13.3.31-amd64

 # README
 # Ubuntu 18.04:
 sudo apt-get install libraw1394-11 libavcodec57 libavformat57        \
     libswscale4 libswresample2 libavutil55 libgtkmm-2.4-1v5              \
     libglademm-2.4-1v5 libgtkglextmm-x11-1.2-0v5 libgtkmm-2.4-dev        \
     libglademm-2.4-dev libgtkglextmm-x11-1.2-dev libusb-1.0-0


 sudo bash install_flycapture.sh
 y
 y
 ${USER}
 y


To do this just add "raw1394" to the /etc/modules file.
# vim /etc/modules-load.d/modules.conf

#
git clone --depth  1 https://github.com/ros-drivers/pointgrey_camera_driver.git
source devel/setup.zsh
roslaunch pointgrey_camera_driver camera.launch

rostopic list

rviz

# imu
sudo apt-get install ros-melodic-imu-tools
../_images/rviz_imu_plugin.png

tf变换

../_images/Yaw_Axis_Corrected.svg 
rosrun tf tf_monitor <source_frame> <target_target>
rosrun tf tf_echo <source_frame> <target_target>
rosrun tf view_frames

# << ROS机器人开发实践 >> Page 64
rosrun tf static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms
rosrun tf static_transform_publisher x y z qx  qy  qz  qw frame_id child_frame_id period_in_ms

<!-- << ROS机器人开发实践 >> Page 64 -->
<launch>
<node pkg="tf" type="static_transform_publisher" name="world_to_map" args="0 0 0 0 0 0 /world /map 10" />
<node pkg="tf" type="static_transform_publisher" name="map_to_mobility" args="0 0 0 0 0 0 /map /mobility 10" />
</launch>

  • API

  • tf namespace
    • tf::TransformListener Class Reference
    cpp python type
    transformQuaternion() transformQuaternion() geometry_msgs/QuaternionStamped
    transformVector() transformVector3() geometry_msgs/Vector3Stamped
    transformPoint() transformPoint() geometry_msgs/PointStamped
    transformPose() transformPose() geometry_msgs/PoseStamped
    transformPointCloud() transformPointCloud() sensor_msgs/PointCloud 
     static geometry_msgs::Quaternion createQuaternionMsgFromRollPitchYaw (double roll,
                                                                       double pitch,
                                                                       double yaw)

 void tf::Quaternion::setRPY(const tfScalar &   roll,
                             const tfScalar &   pitch,
                             const tfScalar &   yaw)

// 将 tf::Quaternion 转换成  geometry_msgs::Quaternion
static void quaternionTFToMsg ( const Quaternion &bt,
                                geometry_msgs::Quaternion &msg)

  • geometry_msgs

ROS 分布式

sudo apt-get install chrony # 时间同步


export ROS_MASTER_URI=http://${MasterHostName}:11311

export ROS_HOSTNAME=192.168.1.102
export ROS_IP=192.168.1.102
export ROS_MASTER_URI=http://192.168.1.102:11311

#
export ROS_MASTER_URI=http://192.168.1.102:11311

https://www.jianshu.com/p/872dc7b514f1?utm_campaign

创建Deb安装包

sudo apt-get install python-bloom=0.10.2-100
# or sudo pip install -U bloom

#sudo apt-get install dpkg-dev debhelper
sudo apt-get install fakeroot=1.22-2ubuntu1

# 1. Create debian structure

#    To make a debian folder structure from the ROS package
#    you must cd into the package to be in the same folder where package.xml file is.
bloom-generate rosdebian --os-name ubuntu --os-version bionic --ros-distro melodic
# bloom-generate rosdebian --ros-distro melodic

# 2. Create binary debian
fakeroot debian/rules binary

  • 生成的deb安装包，依赖本地deb包。

      1. 创建文件 rosdep.yaml
    pm_gnss_msgs:
    ubuntu: ros-melodic-pm-gnss-msgs
      1. 在 /etc/ros/rosdep/sources.list.d/50-my-packages.list 编辑
    yaml file:///mnt/waypoint_follower/waypoint_follower_1.0/src/pure_pursuit_ext/rosdep.yaml
      1. 然后
    rosdep update                   # 更新本地
rosdep db | grep  pm_gnss_msgs  # 查看

sensor

velodyne

../_images/velodyne_default.png ../_images/velodyne-2.png 
Motor RPM: 转速,范围(0-1200), 默认 600

Host(Destination)
    - IP Address    : 广播地址 255.255.255.255
                    : 单播地址 接收端(UDP Server)设备 IP , eg: 10.158.51.29
                      接收端设备IP，必须和此IP一致。


    - Data Port     : 网络端口 , default 2368

roslaunch velodyne_pointcloud VLP16_points.launch port:=2368
roslaunch velodyne_pointcloud VLP16_points.launch port:=2371

# topic
#    - /velodyne_points

LIO-SAM

docker pull daocloud.io/jiangxumin/lio_sam_utils:latest

docker run --rm --name=lio_sam_utils  -it -v $(pwd):/root/host_dir daocloud.io/jiangxumin/lio_sam_utils:latest

CAN BUS

Peak-CAN

# 1. install depends
sudo apt-get install linux-headers-`uname -r`  \
                libpopt-dev g++

# 2. build
tar -xzf peak-linux-driver-X.Y.Z.tar.gz
cd peak-linux-driver-X.Y.Z

make -j $(nproc)
make -C driver netdev
make -C lib
make -C test
make -C libpcanbasic


# 3. install
sudo make -C driver install
sudo make -C lib install
sudo make -C test install
sudo make -C libpcanbasic install

ip l | grep can

# 4.0 load peak_usb
sudo modprobe peak_usb # 卸载 sudo modprobe -r peak_usb

# 4.1  reboot
sudo shutdown -r now

# 5.  set can0  up
sudo ip link set can0 up type can bitrate 500000
ip -details -statistics link show can0

# 6.  test send
sudo apt-get install can-utils
cansend can0 123#0102030405060708
cangen -v can0   # 随机生成can消息
candump can0


### SecureBoot如果是 enable 状态,  需要进入 BOIS , 将 secure boot 关闭
### linux secure boot 状态查询：
mokutil --sb-state

pcanview

wget -q http://www.peak-system.com/debian/dists/`lsb_release -cs`/peak-system.list -O- | sudo tee /etc/apt/sources.list.d/peak-system.list
wget -q http://www.peak-system.com/debian/peak-system-public-key.asc -O- | sudo apt-key add -
sudo apt-get update
sudo apt-get install pcanview-ncurses
  • jetson Tx2 install python-can
tar xzvf python-can-3.2.0.tar.gz
cd python-can-3.2.0/
ls
python3 setup.py build
python3 setup.py install --user

auto can0
iface can0 inet manual
        #pre-up ip link set $IFACE type can bitrate 125000 listen-only off
        pre-up /sbin/ip link set $IFACE type can bitrate 500000 triple-sampling on
        up /sbin/ifconfig $IFACE up
        down /sbin/ifconfig $IFACE down


auto vcan0
iface vcan0 can static
    bitrate 0  # NEEDED but not supported
    pre-up /sbin/ip link add dev $IFACE type vcan
    up /sbin/ip link set $IFACE up
    down /sbin/ip link set $IFACE down

#######################
## create vcan
#######################
sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 up
sudo ip link add dev vcan1 type vcan
sudo ip link set vcan1 up
ip l

## connect  vcan0 vcan1
sudo modprobe can-gw
sudo cangw -A -s vcan0 -d vcan1 -e
sudo cangw -A -s vcan1 -d vcan0 -e


rosrun socketcan_bridge socketcan_bridge_node _can_device:=vcan0
rostopic pub  /sent_messages can_msgs/Frame  -r 1 --  \
'{header: auto,id: 15, is_rtr: 0,is_extended: 0,is_error: 0,dlc: 8,data: [1,2,3,4,5,6,7,9]}'

rosrun socketcan_bridge socketcan_to_topic_node _can_device:=vcan0
rosrun socketcan_bridge topic_to_socketcan_node _can_device:=vcan0

$ sudo apt-get install ros-${ROS_DISTRO}-socketcan-interface \
                        ros-${ROS_DISTRO}-ros-canopen
$ rosrun socketcan_interface socketcan_dump can0 # dump
$ rosrun socketcan_interface socketcan_bcm can0  0.5 12#12345678 # id=12 周期0.5s

ZLG PCIe

  • ZLG PCIe-91XX系列LINUX驱动
#下载 PCIe-91XX系列LINUX驱动
wget https://www.zlg.cn/data/upload/software/Can/zpcican_socket.rar

# md5sum zpcican_socket.rar
# 6b3f6ee0f0aa8f84f2e2f6304f845fb4  zpcican_socket.rar

apt-get install unrar
unrar x zpcican_socket.rar

cd zpcican_socket/zpcican_socket_2018_11_07/

sed -i "s/4.4.0-31-generic/$(uname -r)/"  Makefile

make
# sudo modprobe sja1000
# sudo insmod zpcican.ko

sudo mkdir /lib/modules/$(uname -r)/kernel/drivers/net/can/zlg
sudo cp zpcican.ko /lib/modules/$(uname -r)/kernel/drivers/net/can/zlg/
sudo depmod
sudo modprobe zpcican

sudo tee -a /etc/modules-load.d/modules.conf <<-'EOF'
zpcican
EOF

advSocketCAN

sudo apt-get install -y flex bison
sudo tee /etc/modules-load.d/modules.conf <<-'EOF'
lp
    can
    can_dev
    can_raw
advsocketcan
    advcan_sja1000
EOF

sed -i "s/SUBDIRS/M/g"   advSocketCAN_V1.0.1.0/driver/Makefile

20c20
<   $(MAKE) -w -C $(KDIR) SUBDIRS=$(PWD) modules
---
>   $(MAKE) -w -C $(KDIR) M=$(PWD) modules

make
sudo make install
  • 系统内核
# 安装 18.04.4 lts :  http://old-releases.ubuntu.com/releases/18.04.4/
# 安装 18.04.5 lts
#           http://releases.ubuntu.com/releases/bionic/ubuntu-18.04.5-desktop-amd64.iso.torrent

# 4.15.0-20-generic
# KERNAL_VERSION=5.0.0-23-generic  # Ubuntu 18.04.4
# KERNAL_VERSION=5.3.0-59-generic  # Ubuntu 18.04.4

KERNAL_VERSION=$(uname -r)
KERNAL_VERSION=5.4.0-42-generic    # Ubuntu 18.04.5

sudo apt-get install linux-image-${KERNAL_VERSION} \
                     linux-headers-${KERNAL_VERSION} \
                     linux-modules-extra-${KERNAL_VERSION} # depends can-dev.ko

sudo apt-mark hold linux-image-${KERNAL_VERSION}  #　禁用系统升级

sudo apt-get install vim make gcc openssh-server

sudo shutdown -r now  #  重启


##  modinfo  ./advcan_sja1000.ko | grep depend
sudo apt-get install linux-modules-extra-$(uname -r) # depends can-dev.ko

# 安装内核
sudo apt-get install linux-headers-$(uname -r) linux-image-$(uname -r)

uname  -r # 查看当前内核版本
dpkg --get-selections | grep linux-image # 查看已安装内核镜像
sudo apt-mark hold linux-image-5.0.0-23-generic # 禁止内核更新
sudo apt-mark unhold linux-image-5.0.0-23-generic #解除禁用


# 或者 修改配置
#
#  修改系统配置，在/etc/apt/apt.conf.d目录下
#  10periodic、20auto-upgrades配置中1改为0即可

# /etc/default/grub
# sudo update-grub


grub_timeout_style=menu # 这里可以选择menu或者是hidden

GRUB_DEFAULT="Ubuntu 高级选项>Ubuntu，Linux 5.4.0-42-generic"
GRUB_DEFAULT="Advanced options for Ubuntu>Ubuntu，Linux 5.4.0-42-generic"
GRUB_DEFAULT="1> 3"

can-dbc-parser

sudo apt-get install -y socat

socat -d -d pty,raw,echo=0 pty,raw,echo=0

sudo socat -d -d pty,raw,echo=0,link=/dev/ttyS0 pty,raw,echo=0,link=/dev/ttyS1

sudo apt-get install ros-melodic-uvc-camera
sudo apt-get install "ros-melodic-image-*"
sudo apt-get install ros-melodic-rqt-image-view

rosrun uvc_camera uvc_camera_node
rosrun image_view image_view image:=/image_raw

EMQ- MQTT

  • 在容器中搭建运行EMQ服务器（MQTT服务器）
  • 各个服务端口说明：
    • 1883：MQTT 协议端口
    • 8883：MQTT/SSL 端口
    • 8083：MQTT/WebSocket 端口
    • 8080：HTTP API 端口
    • 18083：Dashboard 管理控制台端口
  • 访问地址：http://服务器IP:18083
    • 默认用户名：admin
    • 默认密码：public
docker run --name emq \
    -p 18083:18083 \
    -p 1883:1883 \
    -p 8084:8084 \
    -p 8883:8883 \
    -p 8083:8083 \
    -d emqx/emqx

# pub.py

import paho.mqtt.client as mqtt

def on_connect(client, userdata, flags, rc):
    print("Connected with result code: " + str(rc))

def on_message(client, userdata, msg):
    print(msg.topic + " " + str(msg.payload))

client = mqtt.Client()
client.on_connect = on_connect
client.on_message = on_message
client.connect('127.0.0.1', 1883, 600) # 600为keepalive的时间间隔
client.publish('fifa', payload='amazing', qos=0)

# sub.py
import paho.mqtt.client as mqtt

def on_connect(client, userdata, flags, rc):
    print("Connected with result code: " + str(rc))

def on_message(client, userdata, msg):
    print(msg.topic + " " + str(msg.payload))

client = mqtt.Client()
client.on_connect = on_connect
client.on_message = on_message
client.connect('127.0.0.1', 1883, 600) # 600为keepalive的时间间隔
client.subscribe('fifa', qos=0)
client.loop_forever() # 保持连接

# sub.py

import paho.mqtt.client as mqtt
import time

#HOST = "127.0.0.1"
HOST = "192.168.2.102"
PORT = 1883

def client_loop():
    client_id = time.strftime('%Y%m%d%H%M%S',time.localtime(time.time()))
    client = mqtt.Client(client_id)    # ClientId不能重复，所以使用当前时间
    client.username_pw_set("jxm", "public")  # 必须设置，否则会返回「Connected with result code 4」
    client.on_connect = on_connect
    client.on_message = on_message
    client.connect(HOST, PORT, 60)
    client.loop_forever()

def on_connect(client, userdata, flags, rc):
    print("Connected with result code "+str(rc))
    client.subscribe("test")

def on_message(client, userdata, msg):
    print(msg.topic+" "+msg.payload.decode("utf-8"))

if __name__ == '__main__':
    client_loop()

# pub.py

# import paho.mqtt.client as mqtt
import paho.mqtt.publish as publish
import time

HOST = "127.0.0.1"
PORT = 1883
def on_connect(client, userdata, flags, rc):
    print("Connected with result code "+str(rc))
    client.subscribe("test")

def on_message(client, userdata, msg):
    print(msg.topic+" "+msg.payload.decode("utf-8"))

if __name__ == '__main__':
    client_id = time.strftime('%Y%m%d%H%M%S',time.localtime(time.time()))
    # client = mqtt.Client(client_id)    # ClientId不能重复，所以使用当前时间
    # client.username_pw_set("admin", "123456")  # 必须设置，否则会返回「Connected with result code 4」
    # client.on_connect = on_connect
    # client.on_message = on_message
    # client.connect(HOST, PORT, 60)
    # client.publish("test", "你好 MQTT", qos=0, retain=False)  # 发布消息

    publish.single("test", "你好 MQTT", qos = 1,hostname=HOST,port=PORT,
                   client_id=client_id,auth = {'username':"jxm",
                                               'password':"public"})
  • C/C++
# C
man libmosquitto

vscode

  • 在 VSCode 中, c_cpp_properties.json 的"包含路径"如下所示.
"includePath": [
    "/home/shisato/catkin_ws/devel/include/**",
    "/opt/ros/melodic/include/**",
    "/home/shisato/catkin_ws/src/package_name/include/**",
    "/usr/include/**"
]

ctrl+shift+B