在ubuntu22.04安装ros2-- humble版本,以及一些环境的配置
看官方文档:
Ubuntu (Debian packages) — ROS 2 Documentation: Humble documentation
如果你觉得官方安装太麻烦,可使用小鱼的一键安装,省时省心。
鱼香ros的一键安装环境
终端输入命令:
wget http://fishros.com/install -O fishros && . fishros
1.安装ros2--humble
选择数字:
[1]:一键安装:ROS(支持ROS和ROS2,树莓派Jetson)
[1]:更换系统源再继续安装
[3]:humble(ROS2)
[1]:humble(ROS2)桌面版
2.安装VScode环境
[7]:一键安装:VsCode开发工具
安装VsCode插件:
中文语言包 ,vscode-icons ,
Python ,Pylance,C++ ,C/C++ Themes,C/C++ Extension Pack,CMake,CMake Tools,
ROS ,RTOS Views,Rosbag Preview ,URDF
Msg Language Support ,Visual Studio IntelliCode ,Markdown All in One
,Cortex-Debug,debug-tracker-vscode,MemoryView,var-translate-en(翻译),fanyi(滚轮翻译)
Rviz可视化工具
由于一键安装ros2的时候已经安装了rviz2,这里不需要再安装
sudo apt install ros-humble-rviz2
Gazebo仿真:
安装命令
sudo apt install ros-humble-gazebo-ros
或者:sudo apt install gazebo
安装nav2框架
sudo apt install ros-humble-navigation2
sudo apt install ros-humble-turtlebot3*
sudo apt install ros-humble-nav2-*
推荐源码安装
安装cartographer建图
sudo apt install ros-humble-cartographer
sudo apt install ros-humble-cartographer-ros
gazebo仿真中添加物理属性,安装依赖
sudo apt install ros-humble-joint-state-publisher
sudo apt install ros-humble-joint-state-publisher-gui
sudo apt install ros-humble-xacro
安装其他
sudo apt install ros-humble-robot-localization
sudo apt install ros-humble-gazebo-ros-pkgs
sudo apt install python3-roslaunch
sudo apt install ros-humble-rqt*
sudo apt install ros-humble-rqt-tf-tree
配置rosdep
运行小鱼一键配置rosdep更快
wget http://fishros.com/install -O fishros && . fishros
rosdepc update
或者自己配置
sudo rosdep init
rosdep update (更新时速度慢)
环境变量:
sudo gedit ~/.bashrc
export ROS_MASTER_URI=http://localhost:11311
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/path/to/your/catkin_workspace
source ~/.bashrc
安装新终端工具
sudo apt install terminator
设置github加速下载
git config --global url."https://ghproxy.com/".insteadOf https://
取消github加速
git config --global --unset-all url."https://ghproxy.com/".insteadOf
foxglove 工具
看实时连接部分Live connection:ROS 2 - Docs - Foxglove
直接下载网桥:
sudo apt install ros-$ROS_DISTRO-foxglove-bridge
从 ROS 工作空间启动,绑定端口:
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
配置文件
<launch>
<!-- Including in another launch file -->
<include file="$(find-pkg-share foxglove_bridge)/launch/foxglove_bridge_launch.xml"/>
<arg name="port" value="8765"/>
<!-- ... other arguments ... -->
</include>
</launch>
foxglove_bridge
如果您打算在机器人在线时使用它,请添加到您的ros启动文件中。
foxglove_bridge打开连接,添加面板,即可看到数据
参考:
ROS2可视化利器---Foxglove Studio-CSDN博客
Open Source-C++ 用于 ROS 1 和 ROS 2 的 Foxglove WebSocket 协议桥接器-糯米PHP (nuomiphp.com)
或者源码安装方式(不推荐)
直接git clone https://github.com/foxglove/ros-foxglove-bridge.git 到workspace的src文件夹 然后跟着项目一起colcon build就能用可视化了
cd ws
git clone https://github.com/foxglove/ros-foxglove-bridge.git src/ros-foxglove-bridge
rosdep update
rosdep install --ignore-src --default-yes --from-path src
编译
colcon build --event-handlers console_direct+ --symlink-install
source install/local_setup.bash
启动网桥绑定端口
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
未完待续......