ROS学习总结【1】-基础知识

版本介绍

下表为目前主流的ROS版本，及项目计划终止时间，推进的Ubuntu系统版本。

版本	发布日期	EOL Date	Ubuntu系统推荐
ROS Noetic Ninjemys	May 23rd, 2020	May 2025	Ubuntu 20.04 (Focal)
ROS Melodic Morenia	May 23rd, 2018	May 2023	Ubuntu 18.04 (Bionic)
ROS Kinetic Kame	May 23rd, 2016	Aprl, 2021	Ubuntu 16.04 (Xenial)

ROS安装

依赖

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo rosdep init
rosdep update

配置源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

配置秘钥

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

Kinetic Kame安装(Ubuntu 16)

#更新
sudo apt update

#完全版
sudo apt install ros-kinetic-desktop-full

#桌面版
sudo apt install ros-kinetic-desktop

#基础版
sudo apt install ros-kinetic-ros-base

Melodic Morenia安装(Ubuntu 18)

#更新
sudo apt update

#完全版
sudo apt install ros-melodic-desktop-full

#桌面版
sudo apt install ros-melodic-desktop

#基础版
sudo apt install ros-melodic-ros-base

环境变量配置

#所有shell启动后
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

#当前shell启动后，当由多个版本的ROS情况下：
source /opt/ros/melodic/setup.bash

切换默认python及优先级
sudo update-alternatives --install /usr/bin/python python /usr/bin/python2 100
sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 150

安装依赖

#安装依赖
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

#初始化
sudo rosdep init
rosdep update

工作空间

ros采用catkin工作空间的概念。

创建工作空间

#创建目录，并执行catkin_make命令
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

#source一下
source devel/setup.bash

#查看当前工作路径是否正常添加进来
$ echo $ROS_PACKAGE_PATH

ROS包定义

通常一个package定义如下：

my_package/
  CMakeLists.txt
  package.xml

一个catkin工作空间定义如下：

workspace_folder/        -- WORKSPACE
  src/                   -- SOURCE SPACE
    CMakeLists.txt       -- 'Toplevel' CMake file, provided by catkin
    package_1/
      CMakeLists.txt     -- CMakeLists.txt file for package_1
      package.xml        -- Package manifest for package_1
    ...
    package_n/
      CMakeLists.txt     -- CMakeLists.txt file for package_n
      package.xml        -- Package manifest for package_n

创建ROS包

进入目录

# You should have created this in the Creating a Workspace Tutorial
$ cd ~/catkin_ws/src

#创建名为beginner_tutorials的包，依赖std_msgs rospy roscpp
$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

构建工作空间及添加环境变量

$ cd ~/catkin_ws
$ catkin_make

#添加环境变量
$ . ~/catkin_ws/devel/setup.bash

查看包依赖

$ rospack depends1 beginner_tutorials 

输出
roscpp
rospy
std_msgs