RO2的安装与简单测试

ROS2已经出了好几个版本，本文尝试安装最新的版本并跑通一个简单的测试

1. 安装ROS2

我们直接按照官方的文档使用安装包安装（我们修改了使用国内的源加快安装速度）

# http://wiki.ros.org/ROS/Installation/UbuntuMirrors
sudo sh -c 'echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/ focal 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
ROS_DISTRO=galactic
sudo apt-get -y --allow-unauthenticated install ros-${ROS_DISTRO}-ros-base 

2. 测试

官方的文档提供了直接可以跑的talker和listener的demo, 我们自己编译运行测试下

cd ~
git clone https://gitee.com/pibot/ros2_tutorials.git
source /opt/ros/galactic/setup.bash
sudo apt-get install ros-galactic-example-interfaces python3-colcon-common-extensions
colcon build --symlink-install

编译有点慢，输出如下

➜  ros2_tutorials git:(master) colcon build --symlink-install                      
Starting >>> cpp_parameters
Starting >>> cpp_pubsub
Starting >>> cpp_srvcli
Starting >>> more_interfaces
Finished <<< cpp_srvcli [22.4s]                                                                                                          
Starting >>> my_package
Finished <<< cpp_parameters [22.6s]                                                                                                       
Starting >>> py_pubsub
Finished <<< cpp_pubsub [32.5s]                                                                                                     
Starting >>> py_srvcli
Finished <<< my_package [11.8s]                                                                                                            
Starting >>> python_parameters
Finished <<< more_interfaces [35.5s]                                                                                                  
Starting >>> tutorial_interfaces
Finished <<< py_pubsub [14.7s]                                                                                                         
Finished <<< py_srvcli [4.79s]                                                                                     
Finished <<< python_parameters [3.84s]                                                          
Finished <<< tutorial_interfaces [18.1s]                       

Summary: 9 packages finished [54.1s]

分别打开2个终端启动listener和talker两个node

. install/setup.bash # or source install/setup.bash
ros2 run cpp_pubsub listener

. install/setup.bash # or source install/setup.bash
ros2 run cpp_pubsub talker

输入结果如下

➜  ros2_tutorials git:(master) ros2 run cpp_pubsub talker  
[INFO] [1651157786.201203089] [minimal_publisher]: Publishing: 'Hello, world! 0'
[INFO] [1651157786.701139979] [minimal_publisher]: Publishing: 'Hello, world! 1'
[INFO] [1651157787.201177175] [minimal_publisher]: Publishing: 'Hello, world! 2'
[INFO] [1651157787.701187811] [minimal_publisher]: Publishing: 'Hello, world! 3'
[INFO] [1651157788.201121074] [minimal_publisher]: Publishing: 'Hello, world! 4'

➜  ros2_tutorials git:(master) ros2 run cpp_pubsub listener
[INFO] [1651157786.202114153] [minimal_subscriber]: I heard: 'Hello, world! 0'
[INFO] [1651157786.701859978] [minimal_subscriber]: I heard: 'Hello, world! 1'
[INFO] [1651157787.201796211] [minimal_subscriber]: I heard: 'Hello, world! 2'
[INFO] [1651157787.701764906] [minimal_subscriber]: I heard: 'Hello, world! 3'
[INFO] [1651157788.201778743] [minimal_subscriber]: I heard: 'Hello, world! 4'

查看topic以及输出

➜  ros2_tutorials git:(master) ros2 topic list
/parameter_events
/rosout
/topic

➜  ros2_tutorials git:(master) ros2 topic echo /topic  
data: Hello, world! 1
---
data: Hello, world! 2
---
data: Hello, world! 3
---
data: Hello, world! 4
---

3. 总结

	ROS1	ROS2
环境变量	source /opt/ros/${ROS_DISTO}/setup.bash	source /opt/ros/${ROS_DISTO}/setup.bash
编译	catkin_make	colcon build
启动node	rosrun package node	ros2 run package node
查看topic	rostop echo /topic	ros2 topich echo /topic
master	roscore	无