commit my work

hz/src/hz_pkg/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.5)
+project(hz_pkg) 
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# 查找依赖
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# 信号发生器节点
+add_executable(signal_generator src/signal_generator.cpp)
+ament_target_dependencies(signal_generator rclcpp std_msgs)
+
+# 信号处理器节点
+add_executable(signal_processor src/signal_processor.cpp)
+ament_target_dependencies(signal_processor rclcpp std_msgs)
+
+# 安装可执行文件
+install(TARGETS
+  signal_generator
+  signal_processor
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
+

hz/src/hz_pkg/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hz_pkg</name>  <!-- 包名，与 CMakeLists.txt 中的 project 一致 -->
+  <version>0.0.0</version>
+  <description>ROS 2 信号发生器和处理器示例</description>
+  <maintainer email="your@email.com">Your Name</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+

hz/src/hz_pkg/src/signal_generator.cpp

@@ -0,0 +1,64 @@
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float64.hpp"
+#include <cmath>
+
+using namespace std::chrono_literals;
+
+class SignalGenerator : public rclcpp::Node
+{
+public:
+    SignalGenerator() : Node("signal_generator")
+    {
+        // 创建发布者，分别发布正弦波和方波
+        sine_publisher_ = this->create_publisher<std_msgs::msg::Float64>("sine_wave", 10);
+        square_publisher_ = this->create_publisher<std_msgs::msg::Float64>("square_wave", 10);
+
+        // 以1000Hz的频率发布信号
+        timer_ = this->create_wall_timer(
+            5ms, std::bind(&SignalGenerator::timer_callback, this));
+
+        // 初始化时间
+        start_time_ = this->now();
+    }
+
+private:
+    void timer_callback()
+    {
+        double t = (this->now() - start_time_).seconds();
+
+        double sine_value = std::sin(2 * M_PI * 10 * t);
+
+        // 生成1Hz方波:
+        double square_value = (std::sin(2 * M_PI * 1 * t) >= 0) ? 1.0 : -1.0;
+
+        // 发布正弦波
+        auto sine_msg = std_msgs::msg::Float64();
+        sine_msg.data = sine_value;
+        sine_publisher_->publish(sine_msg);
+
+        // 发布方波
+        auto square_msg = std_msgs::msg::Float64();
+        square_msg.data = square_value;
+        square_publisher_->publish(square_msg);
+
+        if (count_ % 100 == 0) {
+            RCLCPP_INFO(this->get_logger(), "Sine: %.2f, Square: %.2f", sine_value, square_value);
+        }
+        count_++;
+    }
+
+    rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr sine_publisher_;
+    rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr square_publisher_;
+    rclcpp::Time start_time_;
+    size_t count_ = 0;
+};
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<SignalGenerator>());
+    rclcpp::shutdown();
+    return 0;
+}
+

hz/src/hz_pkg/src/signal_processor.cpp

@@ -0,0 +1,96 @@
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float64.hpp"
+#include <mutex>
+
+class SignalProcessor : public rclcpp::Node
+{
+public:
+    SignalProcessor() : Node("signal_processor")
+    {
+        // 订阅正弦波信号
+        sine_subscription_ = this->create_subscription<std_msgs::msg::Float64>(
+            "sine_wave", 10, 
+            std::bind(&SignalProcessor::sine_callback, this, std::placeholders::_1));
+
+        // 订阅方波信号
+        square_subscription_ = this->create_subscription<std_msgs::msg::Float64>(
+            "square_wave", 10, 
+            std::bind(&SignalProcessor::square_callback, this, std::placeholders::_1));
+
+        // 创建处理后信号的发布者
+        processed_publisher_ = this->create_publisher<std_msgs::msg::Float64>("processed_signal", 10);
+
+        latest_sine_ = 0.0;
+        latest_square_ = 0.0;
+        has_sine_ = false;
+        has_square_ = false;
+    }
+
+private:
+    // 处理正弦波回调
+    void sine_callback(const std_msgs::msg::Float64::SharedPtr msg)
+    {
+        std::lock_guard<std::mutex> lock(data_mutex_);
+        latest_sine_ = msg->data;
+        has_sine_ = true;
+        process_signals();
+    }
+
+    // 处理方波回调
+    void square_callback(const std_msgs::msg::Float64::SharedPtr msg)
+    {
+        std::lock_guard<std::mutex> lock(data_mutex_);
+        latest_square_ = msg->data;
+        has_square_ = true;
+        process_signals();
+    }
+
+    void process_signals()
+    {
+        // 确保信号收到
+        if (!has_sine_ || !has_square_) {
+            return;
+        }
+
+        double processed_value;
+        if ((latest_sine_ >= 0 && latest_square_ >= 0) || 
+            (latest_sine_ < 0 && latest_square_ < 0)) {
+            processed_value = latest_sine_;
+        } else {
+            processed_value = 0.0;
+        }
+
+        // 发布处理后的信号
+        auto msg = std_msgs::msg::Float64();
+        msg.data = processed_value;
+        processed_publisher_->publish(msg);
+
+        // 每100次处理打印一次状态
+        if (count_ % 100 == 0) {
+            RCLCPP_INFO(this->get_logger(), "Sine: %.2f, Square: %.2f, Processed: %.2f",
+                      latest_sine_, latest_square_, processed_value);
+        }
+        count_++;
+    }
+
+    rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr sine_subscription_;
+    rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr square_subscription_;
+    rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr processed_publisher_;
+
+    // 存储最新的信号值
+    double latest_sine_;
+    double latest_square_;
+    bool has_sine_;
+    bool has_square_;
+    std::mutex data_mutex_; 
+    size_t count_ = 0;
+};
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<SignalProcessor>());
+    rclcpp::shutdown();
+    return 0;
+}
+

ros2_ws/src/my_ros2_pkg/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.5)
+project(my_ros2_pkg)  
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# 查找依赖
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# 声明发布者节点
+add_executable(publisher_node src/publisher_node.cpp)
+ament_target_dependencies(publisher_node rclcpp std_msgs)
+
+# 声明订阅者节点
+add_executable(subscriber_node src/subscriber_node.cpp)
+ament_target_dependencies(subscriber_node rclcpp std_msgs)
+
+# 安装可执行文件
+install(TARGETS
+  publisher_node
+  subscriber_node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
+

ros2_ws/src/my_ros2_pkg/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>my_ros2_pkg</name>  
+  <version>0.0.0</version>
+  <description>ROS 2 C++ 发布者和订阅者示例</description>
+  <maintainer email="your@email.com">Your Name</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+

ros2_ws/src/my_ros2_pkg/src/publisher_node.cpp

@@ -0,0 +1,42 @@
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+
+class MinimalPublisher : public rclcpp::Node
+{
+  public:
+    MinimalPublisher()
+    : Node("minimal_publisher"), count_(0)
+    {
+      publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
+      timer_ = this->create_wall_timer(
+      500ms, std::bind(&MinimalPublisher::timer_callback, this));
+    }
+
+  private:
+    void timer_callback()
+    {
+      auto message = std_msgs::msg::String();
+      message.data = "Hello, world! " + std::to_string(count_++);
+      RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
+      publisher_->publish(message);
+    }
+    rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+    size_t count_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalPublisher>());
+  rclcpp::shutdown();
+  return 0;
+}

ros2_ws/src/my_ros2_pkg/src/subscriber_node.cpp

@@ -0,0 +1,31 @@
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+using std::placeholders::_1;
+
+class MinimalSubscriber : public rclcpp::Node
+{
+  public:
+    MinimalSubscriber()
+    : Node("minimal_subscriber")
+    {
+      subscription_ = this->create_subscription<std_msgs::msg::String>(
+      "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
+    }
+
+  private:
+    void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
+    {
+      RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
+    }
+    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}

work1/src/filter_pkg/CMakeLists.txt

@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 3.5)
+project(filter_visualization)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+add_executable(data_publisher src/data_publisher.cpp)
+ament_target_dependencies(data_publisher rclcpp std_msgs sensor_msgs)
+
+add_executable(filter_node src/filter_node.cpp)
+ament_target_dependencies(filter_node rclcpp std_msgs sensor_msgs)
+
+install(TARGETS
+  data_publisher
+  filter_node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()