地平线旭日X3派（一）系统配置

一、SSH登录

1.1 串口配置+串口登录

        1.1.1无线网络配置

1.2 SSH登录

1.3 修改文件 用vim

1.4 安装togetherROS

        1.4.1 安装ROS2-foxy

安装基础功能包
sudo apt install ros-foxy-ros-base ros-foxy-demo-nodes-cpp
sudo apt install ros-foxy-image-transport
sudo apt install ros-foxy-image-transport-plugins

安装编译工具
sudo apt install python3-colcon-common-extensions

安装git
sudo apt install git

        1.4.2raw.githubusercontent.com“报错

        1.4.3  source

source /opt/tros/local_setup.bash

1.5 CPU调频

二、导航

2.1安装SLAM-Toolbox

sudo apt-get install ros-foxy-slam-toolbox

建立软连接
cd /opt/tros
sudo python3 create_soft_link.py --foxy /opt/ros/foxy/ --tros /opt/tros/

2.2安装Nav2

sudo apt update 
# 安装graphicsmagick++
sudo apt install libgraphicsmagick++-q16-12

sudo apt install ros-foxy-navigation2

cd /opt/tros
# 使用/opt/tros目录下的create_soft_link.py创建ROS package至TogetherROS的软连接
sudo python3 create_soft_link.py --foxy /opt/ros/foxy/ --tros /opt/tros/

仿真功能包可选

sudo apt install ros-foxy-gazebo-*
sudo apt install ros-foxy-turtlebot3*

sudo apt install ros-foxy-nav2-bringup

三、虚拟机

由于X3安装的是无图形化界面显示的系统，故rviz2、rqt等需要通过通信在PC机上显示，又因为需要在windows上通过SSH登录X3，所以选择在PC机上安装虚拟机，操作简单、方便、省事。

 3.1  VMware安装包，提取码：b6qa

 3.2  Ubuntu20.04镜像，提取码：if3l

3.3  环境配置

基本工具安装参考

3.4  安装ROS2   环境变量参考

添加ROS apt源

sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

安装ROS2
sudo apt install ros-foxy-desktop  

source /opt/ros/foxy/setup.bash


PC的ROS2安装成功后安装Gazebo和Turtlebot3相关的功能包，安装方法为：

sudo apt-get install ros-foxy-gazebo-*
sudo apt install ros-foxy-turtlebot3
sudo apt install ros-foxy-turtlebot3-bringup
sudo apt install ros-foxy-turtlebot3-simulations
sudo apt install ros-foxy-teleop-twist-keyboard


sudo apt install ~nros-foxy-rqt*

3.4.1 ros2话题命令

ros2 topic list                # 查看话题列表
ros2 topic info <topic_name>   # 查看话题信息
ros2 topic hz <topic_name>     # 查看话题发布频率
ros2 topic bw <topic_name>     # 查看话题传输带宽
ros2 topic echo <topic_name>   # 查看话题数据
ros2 topic pub <topic_name> <msg_type> <msg_data>   # 发布话题消息

3.4.2 编译工作空间

colcon build

3.5  与ROS2通信只需要将网络改为桥接，参考

3.6下载源码

git clone https://ghproxy.com/https://github.com/ros-planning/navigation2.git -b foxy-devel

https://ghproxy.com/为github加速代理

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git -b foxy-devel

git clone https://github.com/SteveMacenski/slam_toolbox.git -b foxy-devel

四、零拷贝

前提准备

安装ROS2软件包构建系统ament_cmake
apt update; 
apt-get install python3-catkin-pkg; 
pip3 install empy

参考

五、双机导航与显示（仿真）

PC机
source /opt/ros/foxy/setup.bash
export TURTLEBOT3_MODEL=waffle
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py


X3：
source /opt/tros/setup.bash

ros2 launch nav2_bringup bringup_launch.py use_sim_time:=True map:=/opt/tros/share/nav2_bringup/maps/turtlebot3_world.yaml

PC机
source /opt/ros/foxy/setup.bash
ros2 launch nav2_bringup rviz_launch.py

六、vscode远程开发

6.1 安装插件 remote development

6.2 ctrl+shift+p      remote-ssh conenct to host

6.3 输入ssh链接

6.4 使用：重复6.2 ；文件-打开文件夹

6.5 一键安装远程扩展，不然不会有代码补全和提示