搭建ROS

仅作笔记整理搬运使用，没有任何程序原创部分，主要给自己提个醒，避免重复搜索工作
不会编程，只能拼凑

一、ubuntu安装ros环境

ubuntu18.04对应的ROS是Melodic

参考网址：https://blog.csdn.net/qq_41450811/article/details/99079041#commentBox

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*

然后执行

sudo rosdep init

出现一些错误
比如pkg_resources.DistributionNotFound: The ‘rosdep==0.20.0’ distribution was not found and is required by the application
此时，按照https://blog.csdn.net/moX980/article/details/110316752
进行python默认版本的更换

还会碰到ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down.这个错误
按照https://blog.csdn.net/Numberors/article/details/105614301
修改IP地址

然后执行

rosdep update

出现错误
ERROR: Not all sources were able to be updated. [[[ ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml]: Failed to download target platform data for gbpdistro: <urlopen error [Errno 104] Connection reset by peer> ]]]
但是已经出现updated cache in /home/shs/.ros/rosdep/sources.cache，证明已经完成，不用管后面的错误

然后执行

roscore 

出现Command 'roscore' not found，证明安装ros包时未安装全，执行以下命令

sudo apt install ros-melodic-desktop-full

再执行roscore出现

started roslaunch server http://shs-C246-WU4:45065/
ros_comm version 1.14.10


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10

NODES

auto-starting new master
process[master]: started with pid [23614]
ROS_MASTER_URI=http://shs-C246-WU4:11311/

setting /run_id to 475cfb06-4fd2-11eb-a8bf-200db010322d
process[rosout-1]: started with pid [23625]
started core service [/rosout]

安装完成

参考：https://blog.csdn.net/mychaoles/article/details/108485496

ROS的卸载
卸载使用如下命令：

sudo apt-get remove ros-*

ubunut16.04安装ROS Kinetic

https://blog.csdn.net/weixin_43159148/article/details/83375218

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

小海龟测试
1.
roscore
2.
rosrun turtlesim turtlesim_node
3.
rosrun turtlesim turtle_teleop_key

出错无脑换网，联通yyds！

二、创建工作区

DOPE官网：https://github.com/NVlabs/Deep_Object_Pose
创建catkin工作区：http://wiki.ros.org/catkin/Tutorials/create_a_workspace

执行

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

有No module named catkin_pkg.package

 catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python2

在make的时候出现错误，参照该博主解决方案https://blog.csdn.net/qq_44324181/article/details/109961907
https://blog.csdn.net/qq_44324181/article/details/109961127
https://www.jianshu.com/p/9c8237bb3598
出现ImportError: "from catkin_pkg.package import parse_package" failed: No module named catkin_pkg.package时执行：

pip install --user catkin_pkg
pip install --user rosdep rosinstall_generator wstool rosinstall six vcstools
pip install --user pydot

然后配置环境变量

sudo gedit ~/.bashrc
export PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages
source ~/.bashrc

再make时又出现AttributeError: module 'enum' has no attribute 'IntFlag'的错误，

【【【【【【【【【【【【【【【【【【【【【【【【【【【【【【【

python
import enum
enum.__file__

结果显示

'/usr/lib/python2.7/dist-packages/enum/__init__.py'

找到原文件，并删掉py和pyc两个文件

sudo rm -f /usr/lib/python2.7/dist-packages/enum/__init__.py
sudo rm -f /usr/lib/python2.7/dist-packages/enum/__init__.pyc

】】】】】】】】】】】】】】】】】】】】】】】】】】】】】】】（确实对这个错误有用，但是删除权限文件我在之后遇到了一些问题）

所以执行

unset PYTHONPATH

也可以解决ttributeError: module 'enum' has no attribute 'IntFlag的问题

然后执行

catkin_make

则可以成功。

然后设置环境变量：

sudo apt install net-tools
gedit ~/.bashrc

# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
 
# Set ROS Network
#######使用    ifconfig     查看你的电脑ip地址
export ROS_HOSTNAME=192.168.89.135
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
 
# Set ROS alias command 快捷指令
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'

注意自己电脑IP 地址的替换。

小海龟测试，分别在三个终端输入：

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

可以看到一个小海龟能够跟着你的键盘上下左右移动。