1.ROS环境搭建与基础工作

0.安装ROS

1.添加源
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/lsb_release -csmain" > /etc/apt/sources.list.d/ros-latest.list'

2.添加密钥
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

3.更新软件源
sudo apt update

4.安装ROS桌面完整版
sudo apt install ros-noetic-desktop-full

5.配置环境变量
1.echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
2.source ~/.bashrc

6.安装构建依赖关系
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

7.初始化rosdep
rosdepc为将github地址修改为国内gitee地址

sudo apt-get install python3-pip
sudo pip install rosdepc

sudo rosdepc init
rosdepc update

1.ROS体验

1.When the ros system in installed, you can use the command to check for correction installation

# 测试ros是否安装正常
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

2.Create and initialize <workspace>

# 创建工作空间workspace；
mkdir -p demo01_ws/src
cd demo01_ws/

# 创建功能包package;
catkin_make
cd src
catkin_create_pkg <workspace> roscpp rospy std_msgs

3.Create python files in <space>/scripts/, next add permission and configure CMakeLists.txt

cd ./scriptes/
chmod +x helloworld_p.py
# 查看可执行权限，文件名变成绿色

// CMakeLists.txt
catkin_install_python(PROGAMS
	scripts/<my_python_script>
	DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

6.compile and execute

cd <project>
catkin_make
# 编译
roscore
# 启动ros核心
source ./devel/setup.bash
rosrun <package> <python_node>

---

2.vscode配置环境

1.create ros workspace

mkdir -p <workspace>/src
cd <workspace>
catkin_make

cd <workspace>
code .
# 启用vscode打开<workspace>

2.compile in vscode
use ctrl+shift+b to choose catkin_make:build, next configure tasks.json

// tasks.json
{
	"version": "2.0.0",
	"tasks": [
		{
			"label": "catkin_make:debug",
			"type": "shell",
			"command": "catkin_make",
			"args": [],
			"group": {"kind":"build", "isDefault":true},
			"presentation":{"reveal": "always"},
			"problemMatcher": "$msCompile"
			}
	]
}

3.create package in vscode
在<workspace_name>/srt 下右击 Create Catkin Package
<package_name>
<roscpp, rospy, std_msgs>

4.create python_node.py, add permission and configure CMakeLists.txt.
use ctrl+shift+b to configure package
use rospack profile to refresh package directory

3.ROS系统相关指令

catkin_create_pkg <package>
sudo apt install <package>

sudo apt purge <package>

rospack list			//列出所有功能包
rospack find <package>			//搜索包路径并返回
roscd <package>			 //进入某个功能包
rosis <package>			//列出某个包下的文件
apt search <package>			 //搜索某个功能包
apt search ros-noetic-*

rosed <package> <node>			 //必须使用vim才能打开

roscore			 //ROS系统先决节点和程序集合，将启动ros master，ros参数服务器，rosout日志
rosrun <package> <node>			//运行指定ROS节点
roslaunch <package> <*.launch>
 
rqt			//启动ros计算图功能