机器人程序设计课程配套系统镜像使用说明( Ubuntu 14.04.5 + ROS indigo )

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本镜像主要针对机器人程序设计本科课程,供学生课程学习与实践操作使用,基于ROS爱好者和学生使用的反馈意见对之前发布的版本进行修正和补充,在此致谢。更新日期为:2017.03.17,ROS学习推荐网址如下:

----------------------------------------------------------

| ROS官网 | 易科 | ROSClub古月居 | 创客智造 | ROSwiki |

----------------------------------------------------------

U盘镜像可以使用Universal-USB-InstallerUltraISO,依据电脑配置情况。

下载链接:http://pan.baidu.com/s/1nvFLoyl 密码:z62f 系统密码:cslg。

镜像制作为U盘启动,可以参考:

1 http://blog.csdn.net/zhangrelay/article/details/53324759

2 http://blog.csdn.net/zhangrelay/article/details/54632130

在Home文件夹的catkin_ws下,配置包如下:


在Home文件夹的Robotdemo_ws下,配置包如下:


其中tutorials包含了ROS官网部分核心的教程:


下面以个人学习ROS流程做一些分享:

首先需要认真做一遍到三遍ros_tutorials,推荐中英文对照学习,举例:

.h文件并不存在的疑惑。节选自:1 2

如下:en cn

Now, let's break the code down.

切换行号显示
   1 #include "ros/ros.h"
   2 #include "beginner_tutorials/AddTwoInts.h"
   3 

beginner_tutorials/AddTwoInts.h is the header file generated from the srv file that we created earlier.


现在,让我们来逐步分析代码。

切换行号显示
   1 #include "ros/ros.h"
   2 #include "beginner_tutorials/AddTwoInts.h"
   3 

beginner_tutorials/AddTwoInts.h是由编译系统自动根据我们先前创建的srv文件生成的对应该srv文件的头文件。


友情提醒,请不要忽略细节部分学习,不要停留在跑通demo的层面。

--------

核心 ROS 教程

初级

  1. 安装并配置ROS环境

    本教程详细描述了ROS的安装与环境配置。

  2. ROS文件系统介绍

    本教程介绍ROS文件系统概念,包括命令行工具roscd、rosls和rospack的使用。

  3. 创建ROS程序包

    本教程介绍如何使用roscreate-pkgcatkin创建一个新程序包,并使用rospack查看程序包的依赖关系。

  4. 编译ROS程序包

    本教程介绍ROS程序包的编译方法

  5. 理解 ROS节点

    本教程主要介绍 ROS 图(graph)概念 并讨论roscorerosnoderosrun 命令行工具的使用。

  6. 理解ROS话题

    本教程介绍ROS话题(topics)以及如何使用rostopicrxplot 命令行工具。

  7. 理解ROS服务和参数

    本教程介绍了ROS 服务和参数的知识,以及命令行工具rosservicerosparam的使用方法。

  8. 使用 rqt_console 和 roslaunch

    本教程介绍如何使用rqt_consolerqt_logger_level进行调试,以及如何使用roslaunch同时运行多个节点。早期版本中的rqt工具并不完善,因此,如果你使用的是“ROS fuerte”或更早期的版本,请同时参考这个页面学习使用老版本的“rx”工具。

  9. 使用rosed编辑ROS中的文件

    本教程将展示如何使用rosed来简化编辑过程。

  10. 创建ROS消息和ROS服务

    本教程详细介绍如何创建并编译ROS消息和服务,以及rosmsg, rossrv和roscp命令行工具的使用。

  11. 编写简单的消息发布器和订阅器 (C++)

    本教程将介绍如何用 C++ 编写发布器节点和订阅器节点。

  12. 写一个简单的消息发布器和订阅器 (Python)

    本教程将通过Python编写一个发布器节点和订阅器节点。

  13. 测试消息发布器和订阅器

    本教程将测试上一教程所写的消息发布器和订阅器。

  14. 编写简单的服务器和客户端 (C++)

    本教程介绍如何用 C++ 编写服务器 Service 和客户端 Client 节点。

  15. 编写简单的Service和Client (Python)

    本教程介绍如何用Python编写Service和Client节点。

  16. 测试简单的Service和Client

    本教程将测试之前所写的Service和Client。

  17. 录制与回放数据

    本教程将教你如何将ROS系统运行过程中的数据录制到一个.bag文件中,然后通过回放数据来重现相似的运行过程。

  18. roswtf入门

    本教程介绍了roswtf工具的基本使用方法。

  19. 探索ROS维基

    本教程介绍了ROS维基(wiki.ros.org)的组织结构以及使用方法。同时讲解了如何才能从ROS维基中找到你需要的信息。

  20. 接下来做什么?

    本教程将讨论获取更多知识的途径,以帮助你更好地使用ROS搭建真实或虚拟机器人。

现在你已经完成了初级教程的学习,请回答这个 问卷来检验一下自己的学习效果。

中级

大多数客户端 API 的使用教程可以在相关程序包 (roscpprospyroslisp) 中找到。

  1. 手动创建ROS package

    本教程将展示如何手动创建ROS package

  2. 管理系统依赖项

    本教程将展示如何使用rosdep安装系统依赖项.

  3. Roslaunch在大型项目中的使用技巧

    本教程主要介绍roslaunch在大型项目中的使用技巧。重点关注如何构建launch文件使得它能够在不同的情况下重复利用。我们将使用 2dnav_pr2 package作为学习案例。

  4. ROS在多机器人上的使用

    本教程将展示如何在两台机器上使用ROS系统,详述了使用ROS_MASTER_URI来配置多台机器使用同一个master。

  5. 自定义消息

    本教程将展示如何使用ROS Message Description Language来定义你自己的消息类型.

  6. 在python中使用C++类

    本教程阐述一种在python中使用C++类的方法。

  7. 如何编写教程

    (概述:)本教程介绍在编辑ros.org维基时可以用到的模板和宏定义,并附有示例以供参考。


--------

这期间可以参考部分ROS书籍,如机器人操作系统(ROS)浅析等。

然后进行案例学习,例如ROS机器人程序设计ROS By Example 1 2两卷等。

同时,需要学习ROS专题,如下:

--------

ROS 函数库教程

ROS 接口的函数库教程


--------

其他关于教材说明可以参考:http://blog.csdn.net/zhangrelay/article/details/53056245

--------

参考博客关于本课程的介绍和补充可以获得更好的学习效果。

indigo专栏:http://blog.csdn.net/column/details/13335.html

kinetic专栏:http://blog.csdn.net/column/details/13113.html

--------

部分书籍和系统备份方法在Documents文件夹:


----------------------------------------------------------------------------------------------------------------------------------

~~镜像中部分示例节选~~

TIAgo示例:

招手示意:


抓取和放置:

 

 

拐角识别:


人体识别:


×××××××××××××××××××××××××××××××××××××××××××××××××××××××××××××××

reemc示例:


reem示例:



~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

附录:

ros by example示例节选

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_bringup fake_turtlebot.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_nav fake_nav_test.launch

relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx1_nav`/amcl.rviz


relaybot@exbot-ThinkPad-T420s:~$ roslaunch pocketsphinx robocup.launch

relaybot@exbot-ThinkPad-T420s:~$ rostopic echo /recognizer/output

data: no

---

data: hello


relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_bringup fake_turtlebot.launch

relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx1_nav`/s.rviz
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_speech voice_nav_commands.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_speech turtlebot_voice_nav.launch

relaybot@exbot-ThinkPad-T420s:~$ rqt_console

[INFO] [WallTime: 1489647557.650591] go move forward

[INFO] [WallTime: 1489647551.253540] Ready to receive voice commands

[INFO] [WallTime: 1489647557.652520] Command: forward



relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_vision usb_cam.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch openni2_launch openni2.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_vision face_tracker2.launch

 


relaybot@exbot-ThinkPad-T420s:~$ rosrun openni_tracker openni_tracker
[ INFO] [1489655631.531912640]: New User 1
[ INFO] [1489655632.494213298]: Pose Psi detected for user 1
[ INFO] [1489655644.459315818]: Lost user 1
[ INFO] [1489655653.171711624]: New User 1
[ INFO] [1489655656.975129018]: Pose Psi detected for user 1
[ INFO] [1489655669.117474462]: Lost user 1
[ INFO] [1489655709.434207386]: New User 1
[ INFO] [1489655731.720007590]: Pose Psi detected for user 1
[ INFO] [1489655746.866101386]: Lost user 1


relaybot@exbot-ThinkPad-T420s:~$ roslaunch openni2_launch openni2.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_vision face_tracker2.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_apps object_tracker.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_bringup fake_turtlebot.launch

relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx1_nav`/s.rviz

   

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_tasks fake_turtlebot.launch

relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx2_tasks`/nav_tasks.rviz

relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_tasks patrol_smach.py

relaybot@exbot-ThinkPad-T420s:~$ rosrun smach_viewer smach_viewer.py

   


relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx2_tasks`/nav_tasks.rviz

relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_tasks clean_house_smach.py



relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_tasks add_remove_tree.py
Creating Print Message task for Take me to your leader!
Creating counting task to 10
Behavior Tree Structure
 --> PRINT_AND_COUNT
     --> PRINT_MESSAGE
     --> COUNT
Take
1
me
2
to
3
your
4
leader!


relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_description pi_robot_with_two_arms.launch

   


relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_utils pub_3d_target.launch



relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_bringup pi_robot_with_gripper.launch sim:=true

relaybot@exbot-ThinkPad-T420s:~$ roslaunch pi_robot_moveit_config move_group.launch

relaybot@exbot-ThinkPad-T420s:~$  rosrun rviz rviz -d `rospack find \
rbx2_arm_nav`/config/pick_and_place.rviz

relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_arm_nav moveit_pick_and_place_demo.py



http://unboundedrobotics.github.io/ubr1_preview/intro.html

relaybot@exbot-ThinkPad-T420s:~$ roslaunch ubr1_gazebo simulation_grasping.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch ubr1_grasping grasping.launch

relaybot@exbot-ThinkPad-T420s:~$ rosrun ubr1_grasping pick_and_place.py --once

.............................................................................................................................................................

Learning ROS for Robotics Programming - Second Edition示例节选

第一章

relaybot@exbot-ThinkPad-T420s:~$ roscore
... logging to /home/relaybot/.ros/log/ada4bb56-0990-11e7-a6e3-0811968dc4b0/roslaunch-exbot-ThinkPad-T420s-3219.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://exbot-ThinkPad-T420s:38543/
ros_comm version 1.11.20
SUMMARY
========
PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.20
NODES
auto-starting new master
process[master]: started with pid [3231]
ROS_MASTER_URI=http://exbot-ThinkPad-T420s:11311/
setting /run_id to ada4bb56-0990-11e7-a6e3-0811968dc4b0
process[rosout-1]: started with pid [3244]
started core service [/rosout]
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done


第二章

relaybot@exbot-ThinkPad-T420s:~$ rosrun chapter2_tutorials chap2_example4
[ INFO] [1489590444.510089537]: Reconfigure Request: 1 0.100000 Chapter2_dynamic_reconfigure True 1
[ INFO] [1489590444.513385410]: Spinning node


第三章

relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter3_tutorials example10.launch



第四章

relaybot@exbot-ThinkPad-T420s:~$ rosrun joy joy_node
[ INFO] [1489592223.223458700]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.

---
header:
  seq: 138
  stamp:
    secs: 1489592265
    nsecs: 143842390
  frame_id: ''
axes: [-0.35972166061401367, -0.0, -1.0, 0.07760214805603027, 0.0, 0.0, 0.0]
buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
---


第五章

relaybot@exbot-ThinkPad-T420s:~$ roslaunch usb_cam usb_cam-test.launch


第六章

relaybot@exbot-ThinkPad-T420s:~$ rosrun chapter6_tutorials pcl_matching


第7章

relaybot@exbot-ThinkPad-T420s:~$ roslaunch robot1_gazebo gazebo_wg.launch



第8章

relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter8_tutorials gazebo_mapping_robot.launch model:="`rospack find robot1_description`/urdf/robot1_base_04.xacro"



第9章

relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter9_tutorials chapter9_configuration_gazebo.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter9_tutorials move_base.launch



第10章


relaybot@exbot-ThinkPad-T420s:~$ roslaunch rosbook_arm_moveit_config demo.launch
relaybot@exbot-ThinkPad-T420s:~$ roslaunch rosbook_arm_pick_and_place grasp_generator_server.launch
relaybot@exbot-ThinkPad-T420s:~$ rosrun rosbook_arm_pick_and_place pick_and_place.py




----------

功能包编译,优先推荐catkin build。

relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tutorials$ catkin build
--------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/indigo
Workspace:                   /home/relaybot/Robotdemo_ws/tutorials
--------------------------------------------------------------------------
Source Space:       [exists] /home/relaybot/Robotdemo_ws/tutorials/src
Log Space:          [exists] /home/relaybot/Robotdemo_ws/tutorials/logs
Build Space:        [exists] /home/relaybot/Robotdemo_ws/tutorials/build
Devel Space:        [exists] /home/relaybot/Robotdemo_ws/tutorials/devel
Install Space:      [unused] /home/relaybot/Robotdemo_ws/tutorials/install
DESTDIR:            [unused] None
--------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------------------
[build] Found '28' packages in 0.0 seconds.                                    
[build] Package table is up to date.                                           
Starting  >>> actionlib_tutorials                                              
Starting  >>> interactive_marker_tutorials                                     
Starting  >>> librviz_tutorial                                                 
Starting  >>> nodelet_tutorial_math                                            
Finished  <<< nodelet_tutorial_math                         [ 0.2 seconds ]    
Starting  >>> pluginlib_tutorials                                              
Finished  <<< interactive_marker_tutorials                  [ 0.3 seconds ]    
Starting  >>> roscpp_tutorials                                                 
Finished  <<< librviz_tutorial                              [ 0.2 seconds ]    
Finished  <<< pluginlib_tutorials                           [ 0.2 seconds ]    
Finished  <<< roscpp_tutorials                              [ 0.6 seconds ]    
Starting  >>> rospy_tutorials                                                  
Starting  >>> rosserial_msgs                                                   
Starting  >>> rviz_plugin_tutorials                                            
Finished  <<< actionlib_tutorials                           [ 1.0 seconds ]    
Starting  >>> rviz_python_tutorial                                             
Finished  <<< rviz_plugin_tutorials                         [ 0.2 seconds ]    
Finished  <<< rviz_python_tutorial                          [ 0.2 seconds ]    
Starting  >>> turtlesim                                                        
Finished  <<< rospy_tutorials                               [ 0.5 seconds ]    
Starting  >>> urdf_tutorial                                                    
Starting  >>> visualization_marker_tutorials                                   
Finished  <<< rosserial_msgs                                [ 0.5 seconds ]    
Starting  >>> rosserial_client                                                 
Finished  <<< visualization_marker_tutorials                [ 0.2 seconds ]    
Starting  >>> rosserial_python                                                 
Finished  <<< urdf_tutorial                                 [ 0.2 seconds ]    
Finished  <<< rosserial_client                              [ 0.2 seconds ]    
Starting  >>> rosserial_arduino                                                
Finished  <<< rosserial_python                              [ 0.2 seconds ]    
Starting  >>> rosserial_embeddedlinux                                          
Starting  >>> rosserial_windows                                                
Finished  <<< turtlesim                                     [ 0.7 seconds ]    
Starting  >>> rosserial_server                                                 
Finished  <<< rosserial_arduino                             [ 0.3 seconds ]    
Starting  >>> rosserial_xbee                                                   
Finished  <<< rosserial_embeddedlinux                       [ 0.2 seconds ]    
Starting  >>> turtle_actionlib                                                 
Finished  <<< rosserial_windows                             [ 0.2 seconds ]    
Starting  >>> turtle_tf                                                        
Finished  <<< rosserial_server                              [ 0.2 seconds ]    
Starting  >>> turtle_tf2                                                       
Finished  <<< rosserial_xbee                                [ 0.2 seconds ]    
Finished  <<< turtle_tf2                                    [ 1.2 seconds ]    
Finished  <<< turtle_tf                                     [ 1.5 seconds ]    
Finished  <<< turtle_actionlib                              [ 1.6 seconds ]    
[build] Summary: All 23 packages succeeded!                                    
[build]   Ignored:   5 packages were skipped or are blacklisted.               
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 4.6 seconds total.                                            
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tutorials$ 

relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reem$ catkin build
---------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/indigo
Workspace:                   /home/relaybot/Robotdemo_ws/reem
---------------------------------------------------------------------
Source Space:       [exists] /home/relaybot/Robotdemo_ws/reem/src
Log Space:          [exists] /home/relaybot/Robotdemo_ws/reem/logs
Build Space:        [exists] /home/relaybot/Robotdemo_ws/reem/build
Devel Space:        [exists] /home/relaybot/Robotdemo_ws/reem/devel
Install Space:      [unused] /home/relaybot/Robotdemo_ws/reem/install
DESTDIR:            [unused] None
---------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
---------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
---------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
---------------------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------------------
[build] Found '41' packages in 0.0 seconds.                                    
[build] Package table is up to date.                                           
Starting  >>> follow_planner                                                   
Starting  >>> head_action                                                      
Starting  >>> joy_teleop                                                       
Starting  >>> key_teleop                                                       
Finished  <<< key_teleop                                          [ 0.2 seconds ]
Starting  >>> object_recognition_clusters                                      
Finished  <<< follow_planner                                      [ 0.3 seconds ]
Starting  >>> pal_behaviour_msgs                                               
Finished  <<< joy_teleop                                          [ 0.2 seconds ]
Starting  >>> pal_common_msgs                                                  
Finished  <<< object_recognition_clusters                         [ 0.3 seconds ]
Starting  >>> pal_control_msgs                                                 
Finished  <<< head_action                                         [ 1.6 seconds ]
Starting  >>> pal_detection_msgs                                               
Finished  <<< pal_common_msgs                                     [ 1.4 seconds ]
Starting  >>> pal_device_msgs                                                  
Finished  <<< pal_control_msgs                                    [ 1.4 seconds ]
Finished  <<< pal_behaviour_msgs                                  [ 2.1 seconds ]
Starting  >>> pal_interaction_msgs                                             
Finished  <<< pal_device_msgs                                     [ 0.9 seconds ]
Starting  >>> pal_motion_model_msgs                                            
Finished  <<< pal_detection_msgs                                  [ 1.8 seconds ]
Starting  >>> pal_multirobot_msgs                                              
Finished  <<< pal_motion_model_msgs                               [ 1.0 seconds ]
Starting  >>> pal_navigation_msgs                                              
Finished  <<< pal_multirobot_msgs                                 [ 1.1 seconds ]
Finished  <<< pal_interaction_msgs                                [ 2.6 seconds ]
Starting  >>> pal_tablet_msgs                                                  
Starting  >>> pal_video_recording_msgs                                         
Starting  >>> pal_vision_msgs                                                  
Finished  <<< pal_navigation_msgs                                 [ 3.2 seconds ]
Starting  >>> pal_walking_msgs                                                 
Finished  <<< pal_tablet_msgs                                     [ 1.2 seconds ]
Starting  >>> pal_wifi_localization_msgs                                       
Finished  <<< pal_video_recording_msgs                            [ 1.2 seconds ]
Starting  >>> reem_2dnav                                                       
Finished  <<< reem_2dnav                                          [ 0.6 seconds ]
Starting  >>> reem_controller_configuration                                    
Finished  <<< reem_controller_configuration                       [ 0.5 seconds ]
Finished  <<< pal_walking_msgs                                    [ 1.9 seconds ]
Finished  <<< pal_wifi_localization_msgs                          [ 2.2 seconds ]
Starting  >>> reem_controller_configuration_gazebo                             
Starting  >>> reem_hardware_gazebo                                             
Starting  >>> reem_maps                                                        
Finished  <<< pal_vision_msgs                                     [ 3.5 seconds ]
Starting  >>> reem_object_recognition                                          
Finished  <<< reem_controller_configuration_gazebo                [ 0.4 seconds ]
Starting  >>> reem_rgbd_launch                                                 
Finished  <<< reem_hardware_gazebo                                [ 0.5 seconds ]
Starting  >>> twist_mux_msgs                                                   
Finished  <<< reem_maps                                           [ 0.4 seconds ]
Starting  >>> reem_tabletop_grasping                                           
Finished  <<< reem_object_recognition                             [ 0.3 seconds ]
Starting  >>> pal_gazebo_plugins                                               
Finished  <<< reem_rgbd_launch                                    [ 0.4 seconds ]
Finished  <<< pal_gazebo_plugins                                  [ 1.1 seconds ]
Finished  <<< twist_mux_msgs                                      [ 2.2 seconds ]
Starting  >>> reem_description                                                 
Starting  >>> twist_mux                                                        
Finished  <<< reem_tabletop_grasping                              [ 2.3 seconds ]
Finished  <<< reem_description                                    [ 0.4 seconds ]
Starting  >>> reem_moveit_config                                               
Finished  <<< twist_mux                                           [ 0.4 seconds ]
Finished  <<< reem_moveit_config                                  [ 0.3 seconds ]
Starting  >>> reem_bringup                                                     
Finished  <<< reem_bringup                                        [ 0.3 seconds ]
Starting  >>> reem_gazebo                                                      
Finished  <<< reem_gazebo                                         [ 0.3 seconds ]
Starting  >>> reem_2dnav_gazebo                                                
Finished  <<< reem_2dnav_gazebo                                   [ 0.3 seconds ]
[build] Summary: All 35 packages succeeded!                                    
[build]   Ignored:   6 packages were skipped or are blacklisted.               
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 16.3 seconds total.                                           
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reem$ 

relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reemc$ catkin build 
----------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/indigo
Workspace:                   /home/relaybot/Robotdemo_ws/reemc
----------------------------------------------------------------------
Source Space:       [exists] /home/relaybot/Robotdemo_ws/reemc/src
Log Space:          [exists] /home/relaybot/Robotdemo_ws/reemc/logs
Build Space:        [exists] /home/relaybot/Robotdemo_ws/reemc/build
Devel Space:        [exists] /home/relaybot/Robotdemo_ws/reemc/devel
Install Space:      [unused] /home/relaybot/Robotdemo_ws/reemc/install
DESTDIR:            [unused] None
----------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
----------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
----------------------------------------------------------------------


----------------------------------------------------------------------
WARNING: Your current environment's CMAKE_PREFIX_PATH is different
from the cached CMAKE_PREFIX_PATH used the last time this workspace
was built.

If you want to use a different CMAKE_PREFIX_PATH you should call
`catkin clean` to remove all references to the previous
CMAKE_PREFIX_PATH.

Cached CMAKE_PREFIX_PATH:
	/opt/ros/indigo
Current CMAKE_PREFIX_PATH:
	/home/relaybot/catkin_ws/devel:/opt/ros/indigo
----------------------------------------------------------------------

[build] Found '38' packages in 0.0 seconds.                                    
[build] Package table is up to date.                                           
Starting  >>> gazebo_msgs                                                      
Starting  >>> head_action                                                      
Starting  >>> joy_teleop                                                       
Starting  >>> key_teleop                                                       
Finished  <<< key_teleop                                           [ 0.3 seconds ]
Finished  <<< joy_teleop                                           [ 0.4 seconds ]
Starting  >>> pal_behaviour_msgs                                               
Finished  <<< head_action                                          [ 1.4 seconds ]
Starting  >>> pal_common_msgs                                                  
Starting  >>> pal_control_msgs                                                 
Finished  <<< gazebo_msgs                                          [ 2.9 seconds ]
Starting  >>> pal_detection_msgs                                               
Finished  <<< pal_behaviour_msgs                                   [ 2.4 seconds ]
Starting  >>> pal_device_msgs                                                  
Finished  <<< pal_common_msgs                                      [ 2.3 seconds ]
Starting  >>> pal_interaction_msgs                                             
Finished  <<< pal_control_msgs                                     [ 2.5 seconds ]
Starting  >>> pal_motion_model_msgs                                            
Finished  <<< pal_device_msgs                                      [ 2.4 seconds ]
Starting  >>> pal_multirobot_msgs                                              
Finished  <<< pal_motion_model_msgs                                [ 1.9 seconds ]
Starting  >>> pal_navigation_msgs                                              
Finished  <<< pal_multirobot_msgs                                  [ 1.5 seconds ]
Finished  <<< pal_detection_msgs                                   [ 4.3 seconds ]
Starting  >>> pal_tablet_msgs                                                  
Finished  <<< pal_tablet_msgs                                      [ 1.3 seconds ]
Finished  <<< pal_interaction_msgs                                 [ 5.2 seconds ]
Starting  >>> pal_video_recording_msgs                                         
Finished  <<< pal_video_recording_msgs                             [ 1.2 seconds ]
Starting  >>> pal_vision_msgs                                                  
Finished  <<< pal_navigation_msgs                                  [ 5.1 seconds ]
Starting  >>> pal_walking_msgs                                                 
Finished  <<< pal_vision_msgs                                      [ 2.2 seconds ]
Starting  >>> pal_wifi_localization_msgs                                       
Starting  >>> play_motion_msgs                                                 
Starting  >>> reemc_controller_configuration                                   
Finished  <<< pal_walking_msgs                                     [ 1.1 seconds ]
Starting  >>> reemc_controller_configuration_gazebo                            
Finished  <<< reemc_controller_configuration                       [ 0.2 seconds ]
Starting  >>> reemc_description                                                
Finished  <<< reemc_controller_configuration_gazebo                [ 0.3 seconds ]
Starting  >>> twist_mux_msgs                                                   
Finished  <<< reemc_description                                    [ 0.3 seconds ]
Finished  <<< pal_wifi_localization_msgs                           [ 1.4 seconds ]
Starting  >>> gazebo_ros                                                       
Finished  <<< play_motion_msgs                                     [ 1.6 seconds ]
Starting  >>> pal_gazebo_plugins                                               
Finished  <<< gazebo_ros                                           [ 0.5 seconds ]
Starting  >>> play_motion                                                      
Starting  >>> gazebo_plugins                                                   
Finished  <<< twist_mux_msgs                                       [ 1.5 seconds ]
Starting  >>> gazebo_ros_control                                               
Finished  <<< pal_gazebo_plugins                                   [ 0.6 seconds ]
Starting  >>> twist_mux                                                        
Finished  <<< play_motion                                          [ 0.5 seconds ]
Finished  <<< gazebo_ros_control                                   [ 0.5 seconds ]
Starting  >>> reemc_hardware_gazebo                                            
Finished  <<< twist_mux                                            [ 0.4 seconds ]
Starting  >>> reemc_bringup                                                    
Finished  <<< reemc_hardware_gazebo                                [ 0.5 seconds ]
Finished  <<< reemc_bringup                                        [ 0.4 seconds ]
Finished  <<< gazebo_plugins                                       [ 2.4 seconds ]
Starting  >>> reemc_gazebo                                                     
Finished  <<< reemc_gazebo                                         [ 0.2 seconds ]
Starting  >>> reemc_moveit_config                                              
Finished  <<< reemc_moveit_config                                  [ 0.2 seconds ]
[build] Summary: All 33 packages succeeded!                                    
[build]   Ignored:   5 packages were skipped or are blacklisted.               
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 19.9 seconds total.                                           
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reemc$ 

relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tiago$ catkin build
---------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /home/relaybot/catkin_ws/devel:/opt/ros/indigo
Workspace:                   /home/relaybot/Robotdemo_ws/tiago
---------------------------------------------------------------------------
Source Space:       [exists] /home/relaybot/Robotdemo_ws/tiago/src
Log Space:          [exists] /home/relaybot/Robotdemo_ws/tiago/logs
Build Space:        [exists] /home/relaybot/Robotdemo_ws/tiago/build
Devel Space:        [exists] /home/relaybot/Robotdemo_ws/tiago/devel
Install Space:      [unused] /home/relaybot/Robotdemo_ws/tiago/install
DESTDIR:            [unused] None
---------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
---------------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
---------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
---------------------------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------------------------
[build] Found '90' packages in 0.0 seconds.                                    
[build] Package table is up to date.                                           
Starting  >>> aruco                                                            
Starting  >>> aruco_msgs                                                       
Starting  >>> controller_manager_msgs                                          
Starting  >>> ddynamic_reconfigure_python                                      
Finished  <<< aruco                                                [ 0.5 seconds ]
Starting  >>> hardware_interface                                               
Finished  <<< ddynamic_reconfigure_python                          [ 0.4 seconds ]
Starting  >>> head_action                                                      
Finished  <<< hardware_interface                                   [ 0.5 seconds ]
Starting  >>> hey5_description                                                 
Finished  <<< aruco_msgs                                           [ 1.6 seconds ]
Finished  <<< hey5_description                                     [ 0.6 seconds ]
Starting  >>> look_hand                                                        
Finished  <<< controller_manager_msgs                              [ 2.3 seconds ]
Starting  >>> look_to_point                                                    
Finished  <<< look_hand                                            [ 0.6 seconds ]
Starting  >>> pal_behaviour_msgs                                               
Starting  >>> pal_common_msgs                                                  
Finished  <<< look_to_point                                        [ 0.6 seconds ]
Starting  >>> pal_control_msgs                                                 
Finished  <<< head_action                                          [ 2.0 seconds ]
Starting  >>> pal_detection_msgs                                               
Finished  <<< pal_control_msgs                                     [ 3.0 seconds ]
Starting  >>> pal_device_msgs                                                  
Finished  <<< pal_behaviour_msgs                                   [ 4.2 seconds ]
Starting  >>> pal_gripper_description                                          
Finished  <<< pal_common_msgs                                      [ 3.9 seconds ]
Starting  >>> pal_interaction_msgs                                             
Finished  <<< pal_gripper_description                              [ 0.5 seconds ]
Starting  >>> pal_motion_model_msgs                                            
Finished  <<< pal_detection_msgs                                   [ 4.8 seconds ]
Finished  <<< pal_device_msgs                                      [ 2.4 seconds ]
Starting  >>> pal_multirobot_msgs                                              
Finished  <<< pal_motion_model_msgs                                [ 1.8 seconds ]
Starting  >>> pal_navigation_msgs                                              
Finished  <<< pal_multirobot_msgs                                  [ 1.3 seconds ]
Finished  <<< pal_interaction_msgs                                 [ 4.2 seconds ]
Starting  >>> pal_tablet_msgs                                                  
Finished  <<< pal_tablet_msgs                                      [ 1.0 seconds ]
Starting  >>> pal_video_recording_msgs                                         
Finished  <<< pal_video_recording_msgs                             [ 0.8 seconds ]
Starting  >>> pal_vision_msgs                                                  
Starting  >>> pal_visual_localization_msgs                                     
Starting  >>> pal_walking_msgs                                                 
Finished  <<< pal_navigation_msgs                                  [ 4.4 seconds ]
Starting  >>> pal_web_msgs                                                     
Finished  <<< pal_walking_msgs                                     [ 1.3 seconds ]
Finished  <<< pal_web_msgs                                         [ 0.8 seconds ]
Starting  >>> pal_wifi_localization_msgs                                       
Finished  <<< pal_wifi_localization_msgs                           [ 1.0 seconds ]
Starting  >>> play_motion_msgs                                                 
Finished  <<< pal_visual_localization_msgs                         [ 2.3 seconds ]
Starting  >>> play_with_sensors                                                
Starting  >>> pmb2_controller_configuration_gazebo                             
Finished  <<< pal_vision_msgs                                      [ 2.8 seconds ]
Starting  >>> rviz_plugin_covariance                                           
Finished  <<< play_with_sensors                                    [ 0.2 seconds ]
Finished  <<< pmb2_controller_configuration_gazebo                 [ 0.2 seconds ]
Starting  >>> tf_lookup                                                        
Finished  <<< play_motion_msgs                                     [ 0.7 seconds ]
Starting  >>> tiago_laser_sensors                                              
Starting  >>> tiago_maps                                                       
Finished  <<< rviz_plugin_covariance                               [ 0.3 seconds ]
Starting  >>> tiago_moveit_config                                              
Finished  <<< tiago_maps                                           [ 0.2 seconds ]
Starting  >>> tiago_moveit_tutorial                                            
Finished  <<< tiago_laser_sensors                                  [ 0.2 seconds ]
Starting  >>> tiago_pcl_tutorial                                               
Finished  <<< tiago_moveit_config                                  [ 0.2 seconds ]
Finished  <<< tf_lookup                                            [ 1.0 seconds ]
Finished  <<< tiago_moveit_tutorial                                [ 0.8 seconds ]
Starting  >>> tts                                                              
Starting  >>> pal_parallel_gripper_wrapper                                     
Finished  <<< tiago_pcl_tutorial                                   [ 0.8 seconds ]
Starting  >>> controller_interface                                             
Starting  >>> joint_limits_interface                                           
Finished  <<< tts                                                  [ 0.1 seconds ]
Starting  >>> transmission_interface                                           
Finished  <<< pal_parallel_gripper_wrapper                         [ 0.1 seconds ]
Starting  >>> aruco_ros                                                        
Finished  <<< controller_interface                                 [ 0.1 seconds ]
Starting  >>> rqt_joint_trajectory_controller                                  
Finished  <<< joint_limits_interface                               [ 0.1 seconds ]
Starting  >>> pal_person_detector_opencv                                       
Finished  <<< transmission_interface                               [ 0.2 seconds ]
Starting  >>> tiago_opencv_tutorial                                            
Finished  <<< rqt_joint_trajectory_controller                      [ 0.2 seconds ]
Starting  >>> pal_gazebo_plugins                                               
Finished  <<< aruco_ros                                            [ 0.3 seconds ]
Starting  >>> pal_python                                                       
Finished  <<< pal_person_detector_opencv                           [ 0.2 seconds ]
Starting  >>> say_something                                                    
Finished  <<< pal_python                                           [ 0.2 seconds ]
Starting  >>> demo_motions                                                     
Finished  <<< tiago_opencv_tutorial                                [ 0.5 seconds ]
Starting  >>> run_motion                                                       
Finished  <<< pal_gazebo_plugins                                   [ 0.4 seconds ]
Starting  >>> controller_manager                                               
Finished  <<< say_something                                        [ 0.2 seconds ]
Starting  >>> force_torque_sensor_controller                                   
Finished  <<< demo_motions                                         [ 0.5 seconds ]
Starting  >>> forward_command_controller                                       
Finished  <<< force_torque_sensor_controller                       [ 0.2 seconds ]
Finished  <<< run_motion                                           [ 0.6 seconds ]
Starting  >>> imu_sensor_controller                                            
Starting  >>> joint_state_controller                                           
Finished  <<< controller_manager                                   [ 0.5 seconds ]
Starting  >>> tiago_aruco_demo                                                 
Finished  <<< forward_command_controller                           [ 0.2 seconds ]
Starting  >>> tiago_pick_demo                                                  
Finished  <<< imu_sensor_controller                                [ 0.2 seconds ]
Starting  >>> pal_navigation_sm                                                
Finished  <<< joint_state_controller                               [ 0.2 seconds ]
Starting  >>> pmb2_description                                                 
Finished  <<< tiago_aruco_demo                                     [ 0.1 seconds ]
Starting  >>> controller_manager_tests                                         
Finished  <<< pal_navigation_sm                                    [ 0.1 seconds ]
Starting  >>> diff_drive_controller                                            
Finished  <<< pmb2_description                                     [ 0.2 seconds ]
Starting  >>> joint_trajectory_controller                                      
Finished  <<< controller_manager_tests                             [ 0.3 seconds ]
Finished  <<< tiago_pick_demo                                      [ 0.7 seconds ]
Finished  <<< joint_trajectory_controller                          [ 0.3 seconds ]
Starting  >>> rqt_controller_manager                                           
Starting  >>> gazebo_ros_control                                               
Starting  >>> effort_controllers                                               
Finished  <<< diff_drive_controller                                [ 0.4 seconds ]
Starting  >>> position_controllers                                             
Finished  <<< gazebo_ros_control                                   [ 0.2 seconds ]
Starting  >>> velocity_controllers                                             
Finished  <<< effort_controllers                                   [ 0.2 seconds ]
Starting  >>> play_motion                                                      
Finished  <<< rqt_controller_manager                               [ 0.1 seconds ]
Starting  >>> tiago_2dnav                                                      
Finished  <<< position_controllers                                 [ 0.2 seconds ]
Starting  >>> tiago_description                                                
Finished  <<< velocity_controllers                                 [ 0.2 seconds ]
Starting  >>> pmb2_controller_configuration                                    
Finished  <<< tiago_2dnav                                          [ 0.2 seconds ]
Starting  >>> pal_hardware_gazebo                                              
Finished  <<< play_motion                                          [ 0.3 seconds ]
Starting  >>> pal_gripper_controller_configuration                             
Finished  <<< tiago_description                                    [ 0.1 seconds ]
Starting  >>> tiago_controller_configuration_gazebo                            
Finished  <<< pmb2_controller_configuration                        [ 0.1 seconds ]
Starting  >>> pmb2_bringup                                                     
Finished  <<< pal_hardware_gazebo                                  [ 0.2 seconds ]
Starting  >>> pal_gripper_gazebo                                               
Finished  <<< pal_gripper_controller_configuration                 [ 0.1 seconds ]
Starting  >>> pal_gripper                                                      
Finished  <<< tiago_controller_configuration_gazebo                [ 0.1 seconds ]
Finished  <<< pmb2_bringup                                         [ 0.1 seconds ]
Starting  >>> pmb2_gazebo                                                      
Starting  >>> tiago_bringup                                                    
Finished  <<< pal_gripper_gazebo                                   [ 0.1 seconds ]
Finished  <<< pal_gripper                                          [ 0.1 seconds ]
Finished  <<< pmb2_gazebo                                          [ 0.1 seconds ]
Finished  <<< tiago_bringup                                        [ 0.1 seconds ]
Starting  >>> tiago_gazebo                                                     
Finished  <<< tiago_gazebo                                         [ 0.1 seconds ]
Starting  >>> tiago_2dnav_gazebo                                               
Starting  >>> tiago_multi                                                      
Finished  <<< tiago_multi                                          [ 0.1 seconds ]
Finished  <<< tiago_2dnav_gazebo                                   [ 0.1 seconds ]
[build] Summary: All 82 packages succeeded!                                    
[build]   Ignored:   8 packages were skipped or are blacklisted.               
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 23.9 seconds total.                                           
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tiago$ 


----------

最后补充实时ROS2文档,之前版本是ROS1,如下:

关于ROS 2

ROS 2教程

高级

ROS 2演示



----------

-End-

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