1 网盘文件介绍
链接: https://pan.baidu.com/s/1hulIXwC 密码: 7udr
打开后,目前有5个文件夹,分别为pic、iso、code、build、book。
pic图片目录,iso镜像目录,code学习ROS一些代码压缩包,build制作镜像文件,book书籍分享。
在iso文件夹可以看到镜像文件ExbotBook_xxx.iso,由于之前发布镜像太大,目前这个镜像就是纯净版,只有Ubuntu 16.04,ROS Kinetic,Gazebo 7.5,MoveIt!以及学习的代码示例,稍后会在试用时做详细介绍。之后,会依据需求更新并增加镜像,定制版镜像制作也会在后续博客中介绍。下载完成后,在build文件夹下载Universal-USB-Installer用于制作启动盘。
2 镜像制作
特别说明,试用时需要在BIOS设置Secure Boot为Disabled,安装完成后再开启Enable。
本镜像制作支持UEFI+Legacy启动,所以使用UEFI/Legacy Boot皆可。
制作过程如下:
需要勾选Showing *ISOs,点击Create:
等待制作完成,约4-8分钟,休息一下:-)
好,镜像制作完成,重启电脑即可使用。下面内容均在U盘系统中完成。
3 系统试用与安装
选择试用exbotbook即可试用此系统。桌面如下:
系统用户名:rosfun 密码:exbot
已经编译好可以使用的功能包如下:
当然,也可以在终端再编译一下看看,当然这是U盘灯会快闪:-)
rosfun@rosfun:~$ cd dev/catkin_ws/
rosfun@rosfun:~/dev/catkin_ws$ catkin_make
Base path: /home/rosfun/dev/catkin_ws
Source space: /home/rosfun/dev/catkin_ws/src
Build space: /home/rosfun/dev/catkin_ws/build
Devel space: /home/rosfun/dev/catkin_ws/devel
Install space: /home/rosfun/dev/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/rosfun/dev/catkin_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/rosfun/dev/catkin_ws/build"
####
[ 1%] Built target laser
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[ 3%] Built target _my_sph_actions_generate_messages_check_deps_sphero_action_msgActionGoal
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[ 4%] Generating dynamic reconfigure files from cfg/chapter2.cfg: /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2Config.h /home/rosfun/dev/catkin_ws/devel/lib/python2.7/dist-packages/chapter2_tutorials/cfg/chapter2Config.py
[ 4%] Built target _sphero_node_generate_messages_check_deps_SpheroCollision
[ 4%] Built target _chapter2_tutorials_generate_messages_check_deps_chapter2_srv1
[ 4%] Built target _chapter2_tutorials_generate_messages_check_deps_chapter2_msg1
[ 4%] Built target _driver_base_generate_messages_check_deps_ConfigValue
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[ 4%] Built target _driver_base_generate_messages_check_deps_SensorLevels
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Generating reconfiguration files for chapter2_ in chapter2_tutorials
Wrote header file in /home/rosfun/dev/catkin_ws/devel/include/chapter2_tutorials/chapter2_Config.h
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[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionGoal
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsGoal
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionFeedback
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsFeedback
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsActionResult
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsResult
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GenerateGraspsAction
[ 36%] Built target _moveit_simple_grasps_generate_messages_check_deps_GraspGeneratorOptions
[ 36%] Built target move_group_remove_object
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[ 39%] Built target sphero_gazebo_xacro_generated_to_devel_space_
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[ 40%] Built target kamtoa_smarthome_controller_generate_messages_cpp
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Scanning dependencies of target chap2_example4
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[ 64%] Building CXX object Learning_ROS_for_Robotics_Programming/chapter2_tutorials/CMakeFiles/chap2_example4.dir/src/example4.cpp.o
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[100%] Built target example5
[100%] Linking CXX executable /home/rosfun/dev/catkin_ws/devel/lib/chapter2_tutorials/chap2_example4
[100%] Built target chap2_example4
rosfun@rosfun:~/dev/catkin_ws$
举2个例子说明一下:
rviz:ROS数据可视化工具
$ roscore
$ rviz
$ roslaunch chapter3_tutorials example9.launch
可以观察到红色方块在rviz中缓慢移动:
gazebo:(model已经完全下载好,ROS仿真利器)
$ roslaunch sphero_gazebo main.launch
$ roslaunch sphero_gazebo keyboard_teleop.launch
使用键盘控制小钢球在环境中移动,体验一下三维物理引擎仿真的效果(Gazebo 7.5)
当然书中的例子,以及github上代码有兴趣都可以尝试。
如果看到这里,想要安装后使用,请阅读如下文字:
如果对Linux不熟悉的话,冲动是魔鬼,先在U盘系统多多练习学习就好,否则万一安装失败windows没了怎么办,即使安装成功,无法进入windows怎么办,提示风险哦 ;-)
安装说明:
这时,如果你想安装,点击桌面右上角图标,是木有结果的:-)确定安装请往下看:
打开终端,输入$ sudo ubiquity 输入密码:exbot
熟悉的安装界面出现了:
请注意下面警告,谨慎操作:
安装步骤和Ubuntu一模一样,安装完成后,如果windows系统不见了,UEFI/Legacy情况不同,可查找解决。
Legacy比较简单,进入系统后在终端输入 sudo update-grub 或 sudo update-grub2 即可。
-End-
镜像制作稍后补充,可选用Pinguy Builder(已预装),Remastersys,respin。在sourceforge或github上可以下载。
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作者:zhangrelay
来源:CSDN
原文:https://blog.csdn.net/ZhangRelay/article/details/54632130
版权声明:本文为博主原创文章,转载请附上博文链接!