ROS2与STM32入门教程-micro_ros的freertos版本
说明:
介绍如何安装使用micro_ros
测试开发板:olimex-stm32-e407
步骤:
安装ros2版本foxy,查看教程
加载ros2环境
source ~/ros2_foxy/install/setup.bash
也可以把这一句加到bashrc文件,新开终端就不用再输入
安装micro-xrce-dds,查看教程
mkdir -p ~/tools/
cd ~/tools/
git clone https://github.com/eProsima/Micro-XRCE-DDS.git
cd Micro-XRCE-DDS
mkdir build && cd build
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/
安装micro_ros_setup
mkdir -p ~/microros_ws
cd ~/microros_ws
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
# Update dependencies using rosdep
sudo apt update && rosdep update
rosdep install --from-path src --ignore-src -y
# Install pip