ROS2和microROS-Agent安装一条龙

东方不菜

已于 2024-12-21 10:46:06 修改

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于 2024-12-21 09:55:45 首次发布

本文链接：https://blog.csdn.net/oDongFangBuCai/article/details/144625848

版权

鱼香ROS一键安装,旧电脑，破设备，可以使用docker安装任意版本ros

wget http://fishros.com/install -O fishros && . fishros

手动拉取humble

sudo docker pull fishros2/ros:humble-desktop-full

docker安装会有网络问题，拉取不到镜像修改daemon.json

sudo nano /etc/docker/daemon.json

{"builder": 
{ 
"gc": { "defaultKeepStorage": "20GB", "enabled": true }}, 
"experimental": false, 
"registry-mirrors": [ "https://2a6bf1988cb6428c877f723ec7530dbc.mirror.swr.myhuaweicloud.com", "https://docker.m.daocloud.io", "https://hub-mirror.c.163.com", "https://mirror.baidubce.com", "https://your_preferred_mirror", "https://dockerhub.icu", "https://docker.registry.cyou", "https://docker-cf.registry.cyou", "https://dockercf.jsdelivr.fyi", "https://docker.jsdelivr.fyi", "https://dockertest.jsdelivr.fyi", "https://mirror.aliyuncs.com", "https://dockerproxy.com", "https://mirror.baidubce.com", "https://docker.m.daocloud.io", "https://docker.nju.edu.cn", "https://docker.mirrors.sjtug.sjtu.edu.cn", "https://docker.mirrors.ustc.edu.cn", "https://mirror.iscas.ac.cn", "https://docker.rainbond.cc" 
] 
}

固件制作：

打开platform.ini,接着我们添加MicroROS的依赖。

lib_deps = 
    https://gitee.com/ohhuo/micro_ros_platformio.git

ROS2主机安装Agent:

下载MicroROS-Agent

sudo apt-get install -y build-essential
mkdir -p microros_ws/src
cd microros_ws/src
git clone http://github.fishros.org/https://github.com/fishros/micro-ROS-Agent.git -b humble
git clone http://github.fishros.org/https://github.com/micro-ROS/micro_ros_msgs.git -b humble

编译

下载完成后，编译MicroROS-Agent：

cd microros_ws
colcon build

编译完成后添加环境变量

source ~/microros_ws/install/setup.bash

运行

ros2 run micro_ros_agent micro_ros_agent serial -b 921600 --dev /dev/ttyUSB0 -v6