ROS学习笔记汇总，跟着“机器人工匠阿杰”的课程

roscore
rosrun name_pkg name_node
rostopic list
rqt_graph
roslaunch ssr_pkg kai_hei.launch

roslaunch wpr_simulation wpb_simple.launch
rviz
roslaunch wpr_simulation wpb_rviz.launch

cd catkin_ws/src catkin_create_pkg vel_pkg roscpp rospy geometry_msgs

roscore
roslaunch wpr_simulation wpb_stage_slam.launch
rosrun hector_mapping hector_mapping
rosrun rviz rviz
rosrun rqt_robot_steering rqt_robot_steering

==

conda deactivate
roslaunch slam_pkg hector.launch

        强烈推荐机器人工匠阿杰 老师的课程，经过这段时间的学习，还是觉得ROS挺好上手的，前期把环境配置好，后面就是“调包侠”了。如上指令是跑平时的一些记录，仅供参考。

        ROS并非真正意义上的操作系统，更像是一个软件框架，处理好各种包和节点。

第52节课：导航篇开端

【1】下载源代码
cd ~/catkin_ws/src
git clone https://github.com/6-robot/wpr_simulation.git
若github超时，试试从gitee下载：
git clone https://gitee.com/s-robot/wpr_simulation.git
cd wpr_simulation/scripts/
./install_for_noetic.sh
cd ~/catkin_ws/
catkin_make

cd ~/catkin_ws/src
git clone https://github.com/6-robot/wpb_home.git
若github超时，试试从gitee下载：
git clone https://gitee.com/s-robot/wpb_home.git
cd wpb_home/wpb_home_bringup/scripts/
./install_for_noetic.sh
cd ~/catkin_ws/
catkin_make

【2】建图指令
roslaunch wpr_simulation wpb_gmapping.launch
rosrun wpr_simulation keyboard_vel_ctrl
rosrun map_server map_saver -f map

【3】创建软件包
catkin_create_pkg nav_pkg roscpp rospy move_base_msgs actionlib

【4】参考代码
wpr_simulation/launch/wpb_demo_nav.launch

【5】导航运行
roslaunch wpr_simulation wpb_stage_robocup.launch
roslaunch wpr_simulation wpb_demo_nav.launch

到这里走不下去了，博主用的双系统，而我用的jetson nano是ARM架构，用不了wpb_home,编译不了了。