1. 环境配置
- 虚拟机 VMware
安装网址: vmap.sjtu.edu.cn
安装版本:VMware Workstation 16.x player
- 操作系统 Ubuntu20.04
镜像下载: http://ftp.sjtu.edu.cn/ubuntu-cd/20.04/
- ROS – noetic
古月居 :https://www.guyuehome.com/9154
官方网站:http://wiki.ros.org/noetic/Installation/Ubuntu
参考资料:https://blog.csdn.net/qq_44339029/article/details/108919545
按照参考资料的步骤可以顺利安装ROS,可有时会由于网络等原因设置软件源出现问题,可参考https://blog.csdn.net/shanpenghui/article/details/89041203
- 步骤梳理
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-noetic-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
- 学习视频:https://www.bilibili.com/video/BV1L44y167ox?p=3
2. 创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
gedit ~/.bashrc
source ~/.bashrc
echo $ROS_PACKAGE_PATH
3. URDF 机器人建模
- 在 src 文件夹下创建一个机器人建模的功能包
catkin_create_pkg mbot_description urdf xacro
- 在 launch 文件夹下建立文件 display_mbot_base_urdf.launch
<launch>
<param