第三周作业-ROS通信编程与仿真工具

一、安装Rviz

sudo apt-get install ros-melodic-rviz

rosdep install rviz
rosmake rviz

sudo apt-get install ros-melodic-uvc-camera

sudo apt-get install ros-melodic-image-* 
sudo apt-get install ros-melodic-rqt-image-view

开三个终端

roscore

rosrun uvc_camera uvc_camera_node

rviz

然后就可以了

二、查看采集信息

参考

cd ~
mkdir -p catkin_ws/src

cd ~/catkin_ws/src
catkin_create_pkg mbot_gazebo std_msgs rospy roscpp
cd ~/catkin_ws
catkin_make

cd ~/catkin_ws/src
catkin_create_pkg mbot_gazebo std_msgs rospy roscpp
cd ~/catkin_ws
catkin_make

<launch>
    <!-- 设置launch文件的参数 -->
    <arg name="paused" default="false"/>
    <arg name="use_sim_time" default="true"/>
    <arg name="gui" default="true"/>
    <arg name="headless" default="false"/>
    <arg name="debug" default="false"/>

    <!-- 运行gazebo仿真环境 -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="debug" value="$(arg debug)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="$(arg paused)"/>
        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
        <arg name="headless" value="$(arg headless)"/>
    </include>

    <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_gazebo.xacro'" /> 

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
        <param name="publish_frequency" type="double" value="50.0" />
    </node>

    <!-- 在gazebo中加载机器人模型-->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
          args="-urdf -model mrobot -param robot_description"/> 

</launch>

cd ~/catkin_ws/src/mbot_gazebo
gedit CMakeLists.txt

gazebo_plugins
gazebo_ros
gazebo_ros_control

cd ~/catkin_ws/src/mbot_gazebo
gedit package.xml

<build_depend>gazebo_plugins</build_depend>
<build_depend>gazebo_ros</build_depend>
<build_depend>gazebo_ros_control</build_depend>
<build_export_depend>gazebo_plugins</build_export_depend>
<build_export_depend>gazebo_ros</build_export_depend>
<build_export_depend>gazebo_ros_control</build_export_depend>
<exec_depend>gazebo_plugins</exec_depend>
<exec_depend>gazebo_ros</exec_depend>
<exec_depend>gazebo_ros_control</exec_depend>

cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash