ROS安装
sudo mkdir -p /etc/ros/rosdep/sources.list.d
sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list
粘贴如下内容,
yaml file:///etc/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
yaml file:///etc/ros/rosdistro/master/rosdep/base.yaml
yaml file:///etc/ros/rosdistro/master/rosdep/python.yaml
yaml file:///etc/ros/rosdistro/master/rosdep/ruby.yaml
yaml file:///etc/ros/rosdistro/master/foxy/distribution.yaml
gbpdistro file:///etc/ros/rosdistro/master/releases/fuerte.yaml fuerte
- 下载rosdirtro.7z,解压,放置到对应文件夹下
- 更改python文件读取路径
sudo gedit /usr/lib/python2.7/dist-packages/rosdistro/__init__.py
Modify: DEFAULT_INDEX_URL = 'file:///etc/ros/rosdistro/master/index-v4.yaml'
- 增加等待时间
cd /usr/lib/python2.7/dist-packages/rosdep2
sources_list.py gbpdistro_support.py rep3.py
DOWnLOAD_TIMEOUT = 15.0 --> 6000.0
ROS创建工作空间与编译
创建工作空间
mkdir -p ./workspace/src
cd ./workspace/src
catkin_init_workspace
cd ../
catkin_make
source ./devel/setup.bash
创建功能包与编译
// cd ./workspace/src
catkin_create_pkg packagename std_msgs rospy roscpp
// cd ./workspace
cd ..
catkin_make
ROS执行python脚本
必须先为脚本增加权限,才能够被功能包检索到
chmod +x ./name.py
ROS添加路径到bashrc文件
echo "source catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
ROS局域网联机通信
主机
终端1
ifconfig // 主机的IP
export ROS_IP=(主机的IP)
roscore
终端2
export ROS_IP=(主机的IP)
export ROS_MASTER_URI=http://(主机的IP):11311/
rosrun pkg_name pkg_node
// test
rosrun turtlesim turtlesim_node
从机
export ROS_IP=(从机ip)
export ROS_MASTER_URI=http://(主机的IP):11311/
rosnode ping pkg_node //查看是否能正常连接
rosrun pkg_name pkg_node
// test
rosrun turtlesim turtle_teleop_key
数据状态查看
rqt_graph 查看节点
rostopic list 列出所有的topic
rostopic echo topic名称 显示topic上发布的message
rostopic type topic名称 查看topic的message类型
rosmsg show message名称 查看message数据结构