完善描述文档
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README.md
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README.md
@ -55,7 +55,7 @@ source ~/.bashrc
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sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool
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sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool
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sudo apt install build-essential
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sudo apt install build-essential
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```
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```
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环境配置检测
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环境配置检测,配置无误的话可无需运行
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```c
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```c
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# 确保环境配置
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# 确保环境配置
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source /opt/ros/noetic/setup.bash
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source /opt/ros/noetic/setup.bash
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@ -67,6 +67,7 @@ sudo apt install --reinstall ros-noetic-desktop-full
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dpkg -l | grep ros-noetic-roslaunch
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dpkg -l | grep ros-noetic-roslaunch
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# 若roslaunch以安装则无需执行下条命令
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# 若roslaunch以安装则无需执行下条命令
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sudo apt install ros-noetic-roslaunch
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sudo apt install ros-noetic-roslaunch
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# 将路径换为文件/文件夹路径,赋予文件/文件夹可执行权限
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# 将路径换为文件/文件夹路径,赋予文件/文件夹可执行权限
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chmod +x /路径
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chmod +x /路径
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# 将文件/文件夹可编辑权限赋予某用户
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# 将文件/文件夹可编辑权限赋予某用户
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@ -84,6 +85,27 @@ rosrun turtlesim turtlesim_node
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```c
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```c
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rosrun turtlesim turtle_teleop_key
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rosrun turtlesim turtle_teleop_key
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```
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```
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创建工作空间
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```c
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mkdir -p src
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catkin_make
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```
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设置 ROS 环境变量
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```c
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echo "source /文件夹路径/devel/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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```
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进入 src 目录并创建功能包
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```c
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cd src
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catkin_create_pkg Service rospy std_msgs geometry_msgs visualization_msgs message_generation
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```
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创建结构和放置文件
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```c
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cd Service
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mkdir scripts
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mkdir srv
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```
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## 实验二
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## 实验二
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### ROS中话题通信
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### ROS中话题通信
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@ -91,6 +113,10 @@ rosrun turtlesim turtle_teleop_key
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```c
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```c
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catkin_make
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catkin_make
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```
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```
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设置文件可执行权限
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```c
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chmod +x scripts/程序名.py
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```
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添加环境变量(所有新终端窗口要执行下列命令)
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添加环境变量(所有新终端窗口要执行下列命令)
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```c
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```c
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source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
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source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
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@ -115,26 +141,34 @@ rviz
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在 Displays 面板中,点击 Add,添加 Marker 类型。
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在 Displays 面板中,点击 Add,添加 Marker 类型。
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## 实验三
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## 实验三
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### ROS中服务和客户
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### ROS中服务端和客户端
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编译工作空间
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编译工作空间
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```c
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```c
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catkin_make
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catkin_make
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```
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```
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启动roscore(终端A)
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设置文件可执行权限
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```c
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```c
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roscore
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chmod +x scripts/程序名.py
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```
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```
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添加环境变量
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添加环境变量
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```c
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```c
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source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
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source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
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```
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```
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启动发送端(终端B)
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启动roscore(终端A)
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```c
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```c
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rosrun position_demo publisher_node_three.py
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roscore
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```
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启动服务端(终端B)
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```c
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rosrun Service Service_S.py
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```
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```
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启动订阅端(也是客户端)(终端C)
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启动订阅端(也是客户端)(终端C)
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```c
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```c
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rosrun position_demo subscriber_node_three.py
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rosrun Service Subscriber_Client_S.py
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```
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启动发送端(终端D)
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```c
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rosrun Service Publister_S.py
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```
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```
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启动RViz(终端F)
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启动RViz(终端F)
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```c
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```c
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@ -142,5 +176,3 @@ rviz
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```
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```
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将RViz左侧 Global Options 面板中 Fixed Frame 改为程序中的 world 。
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将RViz左侧 Global Options 面板中 Fixed Frame 改为程序中的 world 。
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在 Displays 面板中,点击 Add,添加 Marker 类型。
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在 Displays 面板中,点击 Add,添加 Marker 类型。
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### 注:服务端(节点C)提供FFT服务暂未完成。
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