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@@ -1,10 +1,11 @@
|
||||
# ROS-noetic安装，应用于Ubuntu20.04lts
|
||||
## 注：最好全程使用root权限
|
||||
# <p align="center">ROS_Learn</p>
|
||||
## 实验一
|
||||
### ROS-noetic安装，应用于Ubuntu20.04lts<br>注：最好全程使用root权限
|
||||
切换ubuntu软件源，访问清华源来提升下载速度。
|
||||
```c
|
||||
sudo vim /etc/apt/sources.list # 进入apt下载源文件
|
||||
```
|
||||
|
||||
删除所有ubuntu官方源，添加清华源
|
||||
删除所有ubuntu官方源（最好提前备份以下文件避免操作失误无法恢复），添加清华源
|
||||
```c
|
||||
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
|
||||
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
|
||||
@@ -22,8 +23,9 @@ deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restric
|
||||
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
|
||||
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
|
||||
```
|
||||
|
||||
添加ROS源地址
|
||||
vim中按`Esc`退出编辑模式，按`Shift+；`进入命令输入模式输入`wq`保存退出。<br>
|
||||
<br>
|
||||
在命令行中输入下列命令添加ROS源地址。
|
||||
```c
|
||||
sudo sh -c 'echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list'
|
||||
```
|
||||
@@ -31,11 +33,11 @@ sudo sh -c 'echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal main"
|
||||
```c
|
||||
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-keys 6A030B21B4D2B67B
|
||||
```
|
||||
更新源
|
||||
更新软件源
|
||||
```c
|
||||
sudo apt update
|
||||
```
|
||||
安装ROS-noetic
|
||||
安装ROS-noetic（适用于Ubuntu20.04Lts）
|
||||
```c
|
||||
sudo apt install ros-noetic-desktop-full
|
||||
```
|
||||
@@ -54,7 +56,7 @@ source ~/.bashrc
|
||||
sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool
|
||||
sudo apt install build-essential
|
||||
```
|
||||
环境配置检测
|
||||
环境配置检测，配置无误的话可无需运行
|
||||
```c
|
||||
# 确保环境配置
|
||||
source /opt/ros/noetic/setup.bash
|
||||
@@ -66,8 +68,13 @@ sudo apt install --reinstall ros-noetic-desktop-full
|
||||
dpkg -l | grep ros-noetic-roslaunch
|
||||
# 若roslaunch以安装则无需执行下条命令
|
||||
sudo apt install ros-noetic-roslaunch
|
||||
|
||||
# 将路径换为文件/文件夹路径，赋予文件/文件夹可执行权限
|
||||
chmod +x /路径
|
||||
# 将文件/文件夹可编辑权限赋予某用户
|
||||
sudo chown -R 用户名:用户名 /路径
|
||||
```
|
||||
启动roscore
|
||||
#### 启动roscore
|
||||
```c
|
||||
roscore
|
||||
```
|
||||
@@ -79,59 +86,103 @@ rosrun turtlesim turtlesim_node
|
||||
```c
|
||||
rosrun turtlesim turtle_teleop_key
|
||||
```
|
||||
创建工作空间
|
||||
```c
|
||||
mkdir -p src
|
||||
catkin_make
|
||||
```
|
||||
设置 ROS 环境变量
|
||||
```c
|
||||
echo "source /文件夹路径/devel/setup.bash" >> ~/.bashrc
|
||||
source ~/.bashrc
|
||||
```
|
||||
进入 src 目录并创建功能包
|
||||
```c
|
||||
cd src
|
||||
catkin_create_pkg Service rospy std_msgs geometry_msgs visualization_msgs message_generation
|
||||
```
|
||||
创建结构和放置文件
|
||||
```c
|
||||
cd Service
|
||||
mkdir scripts
|
||||
mkdir srv
|
||||
```
|
||||
|
||||
# 二
|
||||
## 实验二
|
||||
### ROS中话题通信
|
||||
编译工作空间
|
||||
```c
|
||||
catkin_make
|
||||
```
|
||||
启动roscore
|
||||
设置文件可执行权限
|
||||
```c
|
||||
roscore
|
||||
chmod +x /文件路径/程序名.py
|
||||
```
|
||||
添加环境变量
|
||||
添加环境变量（所有新终端窗口要执行下列命令）
|
||||
```c
|
||||
source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
|
||||
```
|
||||
启动发送端
|
||||
启动roscore（终端A）
|
||||
```c
|
||||
rosrun position_demo publisher_node.py
|
||||
roscore
|
||||
```
|
||||
启动客户端
|
||||
启动订阅端（终端B）
|
||||
```c
|
||||
rosrun position_demo subscriber_node.py
|
||||
rosrun Topic_Newsletter Subscriber_TN.py
|
||||
```
|
||||
启动RViz
|
||||
启动发送端（终端C）
|
||||
```c
|
||||
rosrun Topic_Newsletter Publisher_TN.py
|
||||
```
|
||||
启动RViz（终端D）
|
||||
```c
|
||||
rviz
|
||||
```
|
||||
将RViz左侧 Global Options 面板中 Fixed Frame 改为程序中的 world 。
|
||||
将RViz左侧 Global Options 面板中 Fixed Frame 设为 map （默认无需修改）。<br>
|
||||
在 Displays 面板中，点击 Add，添加 Marker 类型。
|
||||
|
||||
# 三
|
||||
### 结果图
|
||||
终端运行数据结果：<br>
|
||||
|
||||
RViz图像：<br>
|
||||
|
||||
## 实验三
|
||||
### ROS中服务端和客户端
|
||||
编译工作空间
|
||||
```c
|
||||
catkin_make
|
||||
```
|
||||
启动roscore
|
||||
设置文件可执行权限
|
||||
```c
|
||||
roscore
|
||||
chmod +x /文件路径/程序名.py
|
||||
```
|
||||
添加环境变量
|
||||
```c
|
||||
source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
|
||||
```
|
||||
启动发送端
|
||||
启动roscore（终端A）
|
||||
```c
|
||||
rosrun position_demo publisher_node_three.py
|
||||
roscore
|
||||
```
|
||||
启动客户端
|
||||
启动服务端（终端B）
|
||||
```c
|
||||
rosrun position_demo subscriber_node_three.py
|
||||
rosrun Service Service_S.py
|
||||
```
|
||||
启动RViz
|
||||
启动订阅端（也是客户端）（终端C）
|
||||
```c
|
||||
rosrun Service Subscriber_Client_S.py
|
||||
```
|
||||
启动发送端（终端D）
|
||||
```c
|
||||
rosrun Service Publisher_S.py
|
||||
```
|
||||
启动RViz（终端F）
|
||||
```c
|
||||
rviz
|
||||
```
|
||||
将RViz左侧 Global Options 面板中 Fixed Frame 改为程序中的 world 。
|
||||
在 Displays 面板中，点击 Add，添加 Marker 类型。
|
||||
将RViz左侧 Global Options 面板中 Fixed Frame 改为程序中的 world 。<br>
|
||||
在 Displays 面板中，点击 Add，添加 Marker 类型。
|
||||
### 结果图
|
||||
终端运行数据结果：<br>
|
||||
|
||||
RViz图像：<br>
|
||||
|
||||
+1
-58
@@ -394,36 +394,9 @@ _gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h
|
||||
//Path to a file.
|
||||
_gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc
|
||||
|
||||
//The directory containing a CMake configuration file for actionlib_msgs.
|
||||
actionlib_msgs_DIR:PATH=/opt/ros/noetic/share/actionlib_msgs/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for catkin.
|
||||
catkin_DIR:PATH=/opt/ros/noetic/share/catkin/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for cpp_common.
|
||||
cpp_common_DIR:PATH=/opt/ros/noetic/share/cpp_common/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for gencpp.
|
||||
gencpp_DIR:PATH=/opt/ros/noetic/share/gencpp/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for geneus.
|
||||
geneus_DIR:PATH=/opt/ros/noetic/share/geneus/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for genlisp.
|
||||
genlisp_DIR:PATH=/opt/ros/noetic/share/genlisp/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for genmsg.
|
||||
genmsg_DIR:PATH=/opt/ros/noetic/share/genmsg/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for gennodejs.
|
||||
gennodejs_DIR:PATH=/opt/ros/noetic/share/gennodejs/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for genpy.
|
||||
genpy_DIR:PATH=/opt/ros/noetic/share/genpy/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for geometry_msgs.
|
||||
geometry_msgs_DIR:PATH=/opt/ros/noetic/share/geometry_msgs/cmake
|
||||
|
||||
//Value Computed by CMake
|
||||
gmock_BINARY_DIR:STATIC=/home/zmn/Gitea/ROS_Learn/build/gtest/googlemock
|
||||
|
||||
@@ -470,36 +443,6 @@ gtest_hide_internal_symbols:BOOL=OFF
|
||||
//Dependencies for the target
|
||||
gtest_main_LIB_DEPENDS:STATIC=general;gtest;
|
||||
|
||||
//Path to a library.
|
||||
lib:FILEPATH=/opt/ros/noetic/lib/librostime.so
|
||||
|
||||
//The directory containing a CMake configuration file for message_runtime.
|
||||
message_runtime_DIR:PATH=/opt/ros/noetic/share/message_runtime/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for nav_msgs.
|
||||
nav_msgs_DIR:PATH=/opt/ros/noetic/share/nav_msgs/cmake
|
||||
|
||||
//Value Computed by CMake
|
||||
position_demo_BINARY_DIR:STATIC=/home/zmn/Gitea/ROS_Learn/build/position_demo
|
||||
|
||||
//Value Computed by CMake
|
||||
position_demo_SOURCE_DIR:STATIC=/home/zmn/Gitea/ROS_Learn/src/position_demo
|
||||
|
||||
//The directory containing a CMake configuration file for roscpp_serialization.
|
||||
roscpp_serialization_DIR:PATH=/opt/ros/noetic/share/roscpp_serialization/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for roscpp_traits.
|
||||
roscpp_traits_DIR:PATH=/opt/ros/noetic/share/roscpp_traits/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for rospy.
|
||||
rospy_DIR:PATH=/opt/ros/noetic/share/rospy/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for rostime.
|
||||
rostime_DIR:PATH=/opt/ros/noetic/share/rostime/cmake
|
||||
|
||||
//The directory containing a CMake configuration file for std_msgs.
|
||||
std_msgs_DIR:PATH=/opt/ros/noetic/share/std_msgs/cmake
|
||||
|
||||
|
||||
########################
|
||||
# INTERNAL cache entries
|
||||
@@ -648,7 +591,7 @@ CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
|
||||
//ADVANCED property for variable: CMAKE_NM
|
||||
CMAKE_NM-ADVANCED:INTERNAL=1
|
||||
//number of local generators
|
||||
CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=5
|
||||
CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=4
|
||||
//ADVANCED property for variable: CMAKE_OBJCOPY
|
||||
CMAKE_OBJCOPY-ADVANCED:INTERNAL=1
|
||||
//ADVANCED property for variable: CMAKE_OBJDUMP
|
||||
|
||||
@@ -1,21 +1,21 @@
|
||||
Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD failed with the following output:
|
||||
Change Dir: /home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp
|
||||
|
||||
Run Build Command(s):/usr/bin/make cmTC_69f04/fast && /usr/bin/make -f CMakeFiles/cmTC_69f04.dir/build.make CMakeFiles/cmTC_69f04.dir/build
|
||||
Run Build Command(s):/usr/bin/make cmTC_08a57/fast && /usr/bin/make -f CMakeFiles/cmTC_08a57.dir/build.make CMakeFiles/cmTC_08a57.dir/build
|
||||
make[1]: 进入目录“/home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp”
|
||||
Building C object CMakeFiles/cmTC_69f04.dir/src.c.o
|
||||
/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -o CMakeFiles/cmTC_69f04.dir/src.c.o -c /home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp/src.c
|
||||
Linking C executable cmTC_69f04
|
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/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_69f04.dir/link.txt --verbose=1
|
||||
/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -rdynamic CMakeFiles/cmTC_69f04.dir/src.c.o -o cmTC_69f04
|
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/usr/bin/ld: CMakeFiles/cmTC_69f04.dir/src.c.o: in function `main':
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Building C object CMakeFiles/cmTC_08a57.dir/src.c.o
|
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/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -o CMakeFiles/cmTC_08a57.dir/src.c.o -c /home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp/src.c
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|
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/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -rdynamic CMakeFiles/cmTC_08a57.dir/src.c.o -o cmTC_08a57
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/usr/bin/ld: CMakeFiles/cmTC_08a57.dir/src.c.o: in function `main':
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src.c:(.text+0x46): undefined reference to `pthread_create'
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/usr/bin/ld: src.c:(.text+0x52): undefined reference to `pthread_detach'
|
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/usr/bin/ld: src.c:(.text+0x63): undefined reference to `pthread_join'
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collect2: error: ld returned 1 exit status
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make[1]: *** [CMakeFiles/cmTC_69f04.dir/build.make:87：cmTC_69f04] 错误 1
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make[1]: *** [CMakeFiles/cmTC_08a57.dir/build.make:87：cmTC_08a57] 错误 1
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make: *** [Makefile:121：cmTC_08a57/fast] 错误 2
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|
||||
|
||||
Source file was:
|
||||
@@ -41,18 +41,18 @@ int main(void)
|
||||
Determining if the function pthread_create exists in the pthreads failed with the following output:
|
||||
Change Dir: /home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp
|
||||
|
||||
Run Build Command(s):/usr/bin/make cmTC_b2d4e/fast && /usr/bin/make -f CMakeFiles/cmTC_b2d4e.dir/build.make CMakeFiles/cmTC_b2d4e.dir/build
|
||||
Run Build Command(s):/usr/bin/make cmTC_58d2a/fast && /usr/bin/make -f CMakeFiles/cmTC_58d2a.dir/build.make CMakeFiles/cmTC_58d2a.dir/build
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||||
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|
||||
Building C object CMakeFiles/cmTC_b2d4e.dir/CheckFunctionExists.c.o
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/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -o CMakeFiles/cmTC_b2d4e.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c
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|
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collect2: error: ld returned 1 exit status
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make[1]: *** [CMakeFiles/cmTC_b2d4e.dir/build.make:87：cmTC_b2d4e] 错误 1
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|
||||
Determining if the C compiler works passed with the following output:
|
||||
Change Dir: /home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp
|
||||
|
||||
Run Build Command(s):/usr/bin/make cmTC_85064/fast && /usr/bin/make -f CMakeFiles/cmTC_85064.dir/build.make CMakeFiles/cmTC_85064.dir/build
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||||
Run Build Command(s):/usr/bin/make cmTC_14e15/fast && /usr/bin/make -f CMakeFiles/cmTC_14e15.dir/build.make CMakeFiles/cmTC_14e15.dir/build
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||||
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||||
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||||
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||||
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|
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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File renamed without changes.
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File renamed without changes.
File renamed without changes.
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File renamed without changes.
File renamed without changes.
File renamed without changes.
@@ -12,7 +12,7 @@ try:
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from catkin.environment_cache import generate_environment_script
|
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# search for catkin package in all workspaces and prepend to path
|
||||
for workspace in '/opt/ros/noetic'.split(';'):
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||||
python_path = os.path.join(workspace, 'lib/python3/dist-packages')
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||||
if os.path.isdir(os.path.join(python_path, 'catkin')):
|
||||
sys.path.insert(0, python_path)
|
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CMAKE_PREFIX_PATH = r'/home/zmn/LocalSend/ROS/devel;/home/zmn/LocalSend/shiyan/devel;/opt/ros/noetic'.split(';')
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set(CATKIN_ORDERED_PACKAGES_IS_META "")
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list(APPEND CATKIN_ORDERED_PACKAGES "position_demo")
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list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "position_demo")
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list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
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list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
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||||
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set(CATKIN_MESSAGE_GENERATORS )
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||||
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||||
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@@ -2,4 +2,4 @@
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||||
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||||
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||||
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|
||||
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||||
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