ROS相关操作

ROS安装

1. ROS官网查看安装步骤，选择国内镜像
2. 关于rosdep init，自行创建20-default.list.

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

3. 下载rosdirtro.7z，解压，放置到对应文件夹下
4. 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'

5. 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