视频教程地址
【古月居】古月·ROS2入门21讲 | 带你认识一个全新的机器人操作系统_哔哩哔哩_bilibili
设置编码
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
添加源
sudo apt update && sudo apt install curl gnupg 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ros
sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop 干不动
环境变量
source /opt/ros/humble/setup.bash
echo " source /opt/ros/humble/setup.bash">>~/.bashrc
安装包
sudo apt update
sudo apt install ros-humble-ros1-bridge安装ros1和ros2桥接 没安装ros1就忽略
sudo apt install ros-humble-****
测试
ros2 run demo_nodes_cpp talker
下载课程源码
sudo apt install git
git clone https://gitee.com/guyuehome/ros2_21_tutorials.git
安装vscode
sudo dpkg -i code_1.90.1-1718141439_amd64.deb后边是包的名字
插件
C/C++ CMake IntelliCode Markdown All in One Msg Language Support Python ROS URDF vscode-icons
安装
sudo apt install python3-pip
sudo pip3 install rosdepc
sudo rosdepc init && rosdepc update
rosdepc install -i --from-path src --rosdistro humble -y 扫描依赖项
编译工具
sudo apt install python3-colcon-ros
colcon build 对工作空间完整编译
创建功能包
cd ~/dev_ws/src
#C++
ros2 pkg create --build-type ament_cmake learning_pkg_c
#Python
ros2 pkg create --build-type ament_python learning_pkg_python
安装opencv 22.04系统自带
sudo apt install python3-opencv
查看节点信息
ros2 node list
ros2 node info /***** 查看****节点信息
查看topic
ros2 topic list
ros2 topic info /***** 查看****话题信息
ros2 topic bw /***** 查看****话题带宽
ros2 topic echo /***** 查看****话题详细内容
可视化节点结构信息
rqt_graph
查看服务
ros2 service list
使用命令行请求服务
ros2 service call /**服务名字** xxx服务类型xx 用tab去填充
查看ros接口定义
ros2 interface list
ros2 interface show ***/***查看详细的 路径在computer/opt/ros/humble/share/***
查看动作
ros2 action list
ros2 action info
查看参数
ros2 param list
ros2 param describe **节点** **参数** 描述参数具体的数值
ros2 param get **节点** **参数** 获取参数具体的数值
ros2 param set **节点** **参数** 改变参数具体的数值
ros2 param dump **节点** 打印节点所有参数值
ros2 param dump **节点** >> ***.yaml 保存节点所有参数值到**
ros2 param load **节点** ***.yaml 把节点所有参数值配置为***
安装相机标准驱动
sudo apt install ros-humble-usb-cam
ros2 run usb_cam usb_cam_node_exe
ros2 run learning_topic topic_webcam_sub
树莓派镜像Ubuntu MATE:https://ubuntu-mate.org/download/
远程登录 ssh b@192.163.1.103
分组通讯
在bashrc脚本最后加上id:
export ROS_DOMAIN_ID=31
安装tf功能包
sudo apt install ros-humble-tf2-tools
sudo apt install ros-humble-tf2-py 海龟跟随案例
sudo pip3 install transforms3d 坐标变换库
ros2 run tf2_tools view_frames 绘制坐标系结构PDF文件
ros2 run tf2_ros tf2_echo **坐标系1** **坐标系2** 打印两个坐标系之间的变换关系
urdf_to_graphviz mbot_base.urdf 可视化描述urdf模型
Gazebo仿真
sudo apt install ros-humble-gazebo-* 表示全部安装(按tab查看全部的包)
ros2 launch gazebo_ros gazebo.launch.py 运行模拟环境
打不开的话,刷新环境变量 source /usr/share/gazebo/setup.bash
vi .bashrc >>>最下面加上 export SVGA_VGPU10=0强制使用cpu渲染
ros2 run rviz2 rviz2 运行rviz2 默认ros2已经安装了
sudo apt install ros-humble-rqt 安装rqt
rqt 启动rqt
ROS :https://www.ros.org
ROS Wiki : http://wiki.ros.org/
ROSCon :https://roscon.ros.orgROS
Robots : https://robots.ros.org/
Ubuntu Wiki : https://wiki.ubuntu.org.cn
ROS2 Github : https://github.com/ros2
Gazebo:https://classic.gazebosim.org