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Ros系统教程,详细介绍Ros的安装使用及应用方法
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2023-05-30
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Ros系统教程,详细介绍Ros的安装使用及应用方法
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第一章 安装 Ros 系统
Ubuntu (Debian)�环境安装教程
Debian packages for ROS 2 Humble Hawksbill are currently available for
Ubuntu Jammy.
Resources�
Status Page:
ROS 2 Humble (Ubuntu Jammy): amd64, arm64
Set locale�
Make sure you have a locale which supports UTF-8. If you are in a minimal
environment (such as a docker container), the locale may be something
minimal like POSIX. We test with the following settings. However, it should be
fine if you’re using a different UTF-8 supported locale.
locale # check for UTF-8
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-8export LANG=en_US.UTF-8
locale # verify settings
Setup Sources�
You will need to add the ROS 2 apt repository to your system. First, make sure
that the Ubuntu Universe repository is enabled by checking the output of this
command.
apt-cache policy | grep universe
This should output a line like the one below:
500 http://us.archive.ubuntu.com/ubuntu jammy/universe amd64 Packages
release v=22.04,o=Ubuntu,a=jammy,n=jammy,l=Ubuntu,c=universe,b=amd64
If you don’t see an output line like the one above, then enable the Universe
repository with these instructions.
sudo apt install software-properties-common
sudo add-apt-repository universe
Now add the ROS 2 apt repository to your system. First authorize our GPG key
with apt.
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
Then add the repository to your sources list.
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
Install ROS 2 packages�
Update your apt repository caches after setting up the repositories.
sudo apt update
ROS 2 packages are built on frequently updated Ubuntu systems. It is always
recommended that you ensure your system is up to date before installing new
packages.
sudo apt upgrade
Warning
Due to early updates in Ubuntu 22.04 it is important
that systemd and udev-related packages are updated before installing ROS 2.
The installation of ROS 2’s dependencies on a freshly installed system without
upgrading can trigger the removal of critical system packages.
Please refer to ros2/ros2#1272 and Launchpad #1974196 for more
information.
Desktop Install (Recommended): ROS, RViz, demos, tutorials.
sudo apt install ros-humble-desktop
ROS-Base Install (Bare Bones): Communication libraries, message packages,
command line tools. No GUI tools.
sudo apt install ros-humble-ros-base
Environment setup�
Sourcing the setup script�
Set up your environment by sourcing the following file.
# Replace ".bash" with your shell if you're not using bash# Possible values are: setup.bash,
setup.sh, setup.zshsource /opt/ros/humble/setup.bash
Try some examples�
Talker-listener�
If you installed ros-humble-desktop above you can try some examples.
In one terminal, source the setup file and then run a C++ talker:
source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run a Python listener:
source /opt/ros/humble/setup.bash
ros2 run demo_nodes_py listener
You should see the talker saying that it’s Publishing messages and
the listener saying I heard those messages. This verifies both the C++ and
Python APIs are working properly. Hooray!
Next steps after installing�
Continue with the tutorials and demos to configure your environment, create
your own workspace and packages, and learn ROS 2 core concepts.
Using the ROS 1 bridge�
The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa.
See the dedicated documentation on how to build and use the ROS 1 bridge.
Additional RMW implementations
(optional)�
The default middleware that ROS 2 uses is Fast DDS, but the middleware (RMW)
can be replaced at runtime. See the guide on how to work with multiple RMWs.
Troubleshooting�
Troubleshooting techniques can be found here.
Uninstall�
If you need to uninstall ROS 2 or switch to a source-based install once you
have already installed from binaries, run the following command:
sudo apt remove ~nros-humble-* && sudo apt autoremove
You may also want to remove the repository:
sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove# Consider upgrading for packages previously shadowed.
sudo apt upgrade
Connext security plugins�
The Connext DDS Libraries are included with ROS 2 under a non-commercial
license and do not include the security plug-in libraries. These libraries are
available in the commercial, university and research license versions of RTI
Connext DDS Pro, which is bundled with tools for system debugging,
monitoring, record/replay, etc.
The Connext DDS Evaluation Version (6.0.1) includes the security plugins,
and can be downloaded via options available for university, purchase or
evaluation.
A video walk-thru of this installation (tools and security plug-ins) is
available here at the RTI website. The steps are:
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