第三篇：RK1808在BuildRoot中增加ROS支持

前两篇已经把ROS环境支行起来了，这么久才有时间把示例代码跑起来。

其实，在source时是有错误提示的：

/bin/sh: /opt/ros/kinetic/etc/catkin/profile.d/05.catkin_make.bash: line 17: syntax error: unexpected "(" (expecting "fi")

但是好像不影响核心程序及节点的运行，所以在这里暂时不去查这个问题的原因。

 示例程序是直接使用官方的ROS_Sample来跑，代码添加可以参考官方说明：ockchip_Instruction_Linux_ROS_CN.pdf文档，最终跑起来的结果：

/ # roscore 
... logging to /.ros/log/0f7a28b5-5b50-11ea-b978-1255b4415fbc/roslaunch-rk1808-13284.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://rk1808:36268/
ros_comm version 1.12.14


SUMMARY
========

PARAMETERS
 * /rosdistro: <unknown>
 * /rosversion: 1.12.14

NODES

auto-starting new master
process[master]: started with pid [14465]
ROS_MASTER_URI=http://rk1808:11311/

setting /run_id to 0f7a28b5-5b50-11ea-b978-1255b4415fbc
process[rosout-1]: started with pid [14999]
started core service [/rosout]

跑示例结果：

/ # rosrun beginner_tutorials talker
[rospack] Error: package 'beginner_tutorials' not found
find: '': No such file or directory
[ INFO] [1583021059.857558457]: hello world 0
[ INFO] [1583021059.957595165]: hello world 1
[ INFO] [1583021060.057423332]: hello world 2
[ INFO] [1583021060.157436999]: hello world 3
[ INFO] [1583021060.257411582]: hello world 4
[ INFO] [1583021060.357413874]: hello world 5
[ INFO] [1583021060.457425499]: hello world 6
[ INFO] [1583021060.557425457]: hello world 7
[ INFO] [1583021060.657432415]: hello world 8

虽然有Error提示，但是程序还是跑起来了。再跑listner：

/opt/ros/kinetic # rosrun beginner_tutorials listener
[rospack] Error: package 'beginner_tutorials' not found
find: '': No such file or directory
[ INFO] [1583021114.359520274]: I heard: [hello world 545]
[ INFO] [1583021114.459148649]: I heard: [hello world 546]
[ INFO] [1583021114.559642691]: I heard: [hello world 547]
[ INFO] [1583021114.658635233]: I heard: [hello world 548]
[ INFO] [1583021114.758384941]: I heard: [hello world 549]
[ INFO] [1583021114.858738108]: I heard: [hello world 550]
[ INFO] [1583021114.958658150]: I heard: [hello world 551]
[ INFO] [1583021115.058836900]: I heard: [hello world 552]
[ INFO] [1583021115.158935150]: I heard: [hello world 553]
[ INFO] [1583021115.258805900]: I heard: [hello world 554]
[ INFO] [1583021115.358730608]: I heard: [hello world 555]