2、在hilens_kit安装ros后,启动功能包
(???)
在设备上复制ROS core components workspace(“ROS_catkin_ws”),因为根分区很小,建议将其复制到主文件夹,并创建指向根的符号链接:
将ros_catkin_ws
拷贝到根目录下:
Euler:~ # cd /var/lib/docker/zcj/ros/env/
Euler:/var/lib/docker/zcj/ros/env # ls
hilens_ros python2
Euler:/var/lib/docker/zcj/ros/env # cd hilens_ros/
Euler:/var/lib/docker/zcj/ros/env/hilens_ros # ls
boost_arm demo_ws-back demo_ws.tar.gz kernel_modules python_req ros_test
demo_ws demo_ws-myarduino deps python2.7.2.zip ros_catkin_ws udev_rules
Euler:/var/lib/docker/zcj/ros/env/hilens_ros # cp -r ros_catkin_ws/ /
进入根目录(/)进行链接:
Euler:~ # cd /
Euler:/ # ls
bin dev home lost+found opt root sbin srv uImage_hi3559av100_multi-core
boot etc lib media p2.log ros_catkin_ws sc_init sys usr
demo_ws euler lib64 mnt proc run SEI_FS.img tmp var
Euler:/ # ln -s ros_catkin_ws/ /
删除软连接:
rm -rf ./test_chk_ln
不可以:
rm -rf ./test_chk_ln/
这样容易删除源文件中的内容。
现在,应该让主要的ROS组件工作,可以通过以下方式进行测试:
$ source /ros_catkin_ws/install_isolated/setup.bash
$ ldconfig /ros_catkin_ws/cb_ws/install/lib
$ roscore
启动arduino底层:
Euler:~ # source /ros_catkin_ws/install_isolated/setup.bash
Euler:~ # ldconfig /ros_catkin_ws/cb_ws/install/lib/
Euler:~ # ln -s /demo_ws/ /
Euler:~ # source /demo_ws/devel/setup.bash
Euler:~ # roslaunch ros_arduino_python arduino.launch