C++博客-jack-wang-随笔分类-ROS

Ubuntu16中安装ROS

小王 — Sun, 20 Feb 2022 18:03:00 GMT

1、更换Ubuntu国内源

cd /etc/apt/
备份sources.list

打开文件sources.list
vim sources.list

将其中内容全部替换为以下内容（本次使用阿里源，之前使用清华源apt update报错过）：

deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ xenial-proposed main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ xenial-proposed main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse

保存退出

apt update
下载更新成功！（上次使用清华源到这一步更新失败）

2、替换ROS国内源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

设置key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

再次更新apt
apt update

3、安装ROS

sudo apt-get install ros-kinetic-desktop-full
安装成功！

设置环境变量

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

4、初始化rosdep
rosdep init
失败！
报错信息如下：

ERROR: cannot download default sources list from:

https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list

Website may be down.

cd /etc

sudo mkdir ros

cd ros

sudo mkdir rosdep

cd rosdep

sudo mkdir source.list.d

cd source.list.d

sudo touch 20-default.list

vim 20-default.list
粘贴如下内容：

#os-specific listings first

yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

#generic

yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml

yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml

yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml

gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte

#newer distributions (Groovy, Hydro, …) must not be listed anymore, they are being

#fetched from the rosdistro index.yaml instead

保存退出

rosdep update
更新成功！

O了！
以前在Ubuntu18下面安装ROS很顺利啊，怎么在Ubuntu16下面安装就这么费劲呢，沃尼玛！

小王 2022-02-21 02:03 发表评论

ROS开发环境配置

小王 — Tue, 07 Jul 2020 07:42:00 GMT

1、创建并初始化工作目录
ROS使用一个名为catkin的ROS专用构建系统。为了使用它，用户需要创建并初始化catkin工作目录，如下所示。
除非用户创建新的工作目录，否则此设置只需设置一次。
mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src
catkin_init_workspace
在src目录中生成了CMakeLists.txt文件

cd ~/catkin_ws/
catkin_make

2、设置环境变量
~/.bashrc
末尾添加：
# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
生效
source .bashrc

# Set ROS Network
#ifconfig查看你的电脑ip地址，比如192.168.1.154
vim ~/.bashrc
在末尾添加：
export ROS_HOSTNAME=192.168.1.154
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
生效
source .bashrc

# Set ROS alias command 快捷指令
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'

3、运行测试程序
启动一个终端，运行：
roscore
再启动一个终端，运行：

rosrun turtlesim turtlesim_node
再启动一个终端，运行：
rosrun turtlesim turtle_teleop_key

小王 2020-07-07 15:42 发表评论

ROS指令集

小王 — Mon, 06 Jul 2020 02:58:00 GMT

无情地盗链：https://www.cnblogs.com/liu-fa/p/5761448.html

创建 ROS 工作空间

启动 ROS

$ roscore

创建工作环境

$ mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/src $ catkin_init_workspace

编译 ROS 程序

$ cd ~/catkin_ws $ catkin_make

添加程序包到全局路径

$ echo "source catkin_ws/devel/setup.bash" >> ~/.bashrc $ source ~/.bashrc

Package 相关操作

创建 Package 并编译

$ cd ~/catkin_ws/src $ catkin_create_pkg  [depend1] [depend2] [depend3] $ cd ~/catkin_ws $ catkin_make

查找 Package

$ rospack find [package name]

查看 Package 依赖

$ rospack depends  $ rospack depends1

Node 相关操作

查看所有正在运行的 Node

$ rosnode list

查看某节点信息

$ rosnode info [node_name]

运行 Node

$ rosrun [package_name] [node_name] [__name:=new_name]

Topic 相关操作

查看 rostopic 所有操作

$ rostopic -h

查看所有 Topic 列表

$ rostopic list

图形化显示 topic

$ rosrun rqt_graph rqt_graph
$ rosrun rqt_plot rqt_plot

查看某个 Topic 信息

$ rostopic echo [topic]

查看 Topic 消息格式

$ rostopic type [topic] $ rosmsg show [msg_type]

向topic发布消息

$ rostopic pub [-1]   [-r 1] -- [args] [args]

Service 相关操作

查看所以service操作

$ rosservice -h

查看 service 列表

$ rosservice list

调用 service

$ rosservice call [service] [args]

查看 service 格式并显示数据

$ rosservice type [service] | rossrv show

设置service parameter

$ rosparam set [parame_name] [args] + rosservice call clear

获得parameter

$ rosparam get [parame_name]

加载parameter

$ rosparam load [file_name] [namespace]

删除parameter

$ rosparam delete

Bag 相关操作

录制所有topic变化

$ rosbag record -a

记录某些topic

$ rosbag record -O subset

查看bag信息

$ rosbag info

回放

$ rosbag play (-r 2)

小王 2020-07-06 10:58 发表评论

安装ROS

小王 — Sun, 05 Jul 2020 20:28:00 GMT

1、使用Ubuntu18.04
2、配置数据源
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'
3、设置秘钥（最新！）
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
网上其他的秘钥都特么不好使啊！坑你爹啊！
4、安装
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*
5、初始化
sudo rosdep init
报错：
sudo: rosdep: command not found
安装rosdep：
sudo apt install python-rosdep
再次初始化 sudo rosdep init
输出提示：
please run rosdep update
说明rosedep初始化成功，然后执行rosdep的更新命令：
rosdep update
如果更新失败的话就多重试几次。
更新成功后，安装：
sudo apt-get install python-rosinstall
6、配置环境变量（不可或缺）
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7、重启
roscore
输出：
started core service [/rosout]

O了！

小王 2020-07-06 04:28 发表评论