参考:
http://wiki.ros.org/cn/ROS/Tutorials
http://wiki.ros.org/ROS/Tutorials
我的ubuntu是12.04,ROS是fuerte
我把新手教程大部分跑了一次,代码怎么写的我就不照搬了,wiki上做得肯定比我的好。由于跑的时候,wiki上没什么图片,我又是菜鸟,一开始也不知道自己对不对。这里只是把我跑出来的结果截个图给大家看看,同时加上一些我的理解,或者其他网站看到的解释,希望能给大家一个参考,大家发现有错的,也希望大家指正。
有的解释我忘了出处,假如大家发现了可以跟我说说,我会修改。
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1. Installing and Configuring Your ROS Environment
(1)
直接写export是查看环境变量,grep是高亮
![](https://img-blog.csdn.net/20150402172649742?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
source命令通常用于重新执行刚修改的初始化文档
![](https://img-blog.csdn.net/20150402172824263?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
![](https://img-blog.csdn.net/20150402172958113?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
这个比较重要,之前我装了一次好像配置错了,结果$ echo $ROS_PACKAGE_PAT这了没有显示3个路径
(2)
我一开始以为workspace在opt里面,但好像就是在home里面的
![](https://img-blog.csdn.net/20150402204918245?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
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2. ROS Package
(1)
![](https://img-blog.csdn.net/20150402205249129?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
(2)
![](https://img-blog.csdn.net/20150402205507451?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
![](https://img-blog.csdn.net/20150402205433649?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
(3)
![](https://img-blog.csdn.net/20150402205700988?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
(4)
![](https://img-blog.csdn.net/20150402205714654?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
这个结果就是roscreate-pkg beginner_tutorials std_msgs rospy roscpp 提到依赖的
我感觉2,3步都是验证有没创立功能包吧,4就是确定依赖正不正确
(5)
![](https://img-blog.csdn.net/20150402205927835?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
这里也是可以看依赖的吧
(6)
![](https://img-blog.csdn.net/20150402210037645?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
这是举个例子,说依赖的功能包自己也会有依赖
![](https://img-blog.csdn.net/20150402210134223?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
(7)
![](https://img-blog.csdn.net/20150402210353172?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
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3. Node
(1)
$ roscore
(2)
新的终端
![](https://img-blog.csdn.net/20150402210646863?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
![](https://img-blog.csdn.net/20150402210722010?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
run完小乌龟后再rosnode list一次
![](https://img-blog.csdn.net/20150402210901897?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
(3)
![](https://img-blog.csdn.net/20150402211008603?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvZmVuZ2dkZnM=/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/Center)
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4. Topic
(1)
这里可以看到一个是command_velocity的topic
(2)
(3)
(4)
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5. ROS Services and Parameters
(1)
回忆下topic,其实勒应该就是 rosservice list,这个是可以供节点间相互通信的,下面的topic勒就是订阅了应该就可以看吧
(2)
(3)
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6. rqt_console and roslaunch
感觉这是两个和topic相关的工具
(1)
ros-fuerte-rqt-common-plugins,ros-fuerte-turtlesim是装不上的,好像他是换了个名字,不过没所谓安装ros的时候是装的
(2)
运行那两个
(3)
重新在新终端搞只乌龟出来
再观察rqt_console
(4)
我也是不是很懂这含义,我觉得应该是提高级别(warn>info)来看那个meeage(oh no!i hit the wall)吧
(5)
(6)
(7)
rqt rqt-graph好像都不行
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后面还有一些教程,截图丢了,有机会再补吧