RoboWare Studio 软件使用手册(www.roboware.me)
济南汤尼机器人科技有限公司(www.tonyrobotics.com)
目 录
一.编写目的 ....................................................................................................................................................... 1
二.软件介绍 ....................................................................................................................................................... 1
三.软件更新说明 .............................................................................................................................................. 2
四.软件安装 ....................................................................................................................................................... 2
1. 准备 ................................................................................................................................................................2
2. 安装 ................................................................................................................................................................2
3. 升级 ................................................................................................................................................................3
4. 卸载 ................................................................................................................................................................3
5. 启动 ................................................................................................................................................................3
五.软件使用教程 .............................................................................................................................................. 4
1. 本地开发模式 .............................................................................................................................................4
(1) 创建工作区 ............................................................................................................................................4
(2) 打开/关闭工作区 .................................................................................................................................4
(3) 创建 ROS 包 ..........................................................................................................................................5
(4) 添加新的动态链接库或可执行文件(ROS 节点) .................................................................6
(5) 添加 C++源代码到动态链接库或可执行文件(ROS 节点) ..............................................8
(6) 添加 MESSAGE/SERVICE/ACTION ...........................................................................................................9
(7) 构建工作区 ......................................................................................................................................... 10
(8) 集成终端使用 .................................................................................................................................... 12
(9) 调试 C++源代码 .............................................................................................................................. 12
(10) 调试 PYTHON 源代码 ...................................................................................................................... 14
(11) 添加并启动 LAUNCH 文件 ............................................................................................................. 15
2. 远程开发模式 .......................................................................................................................................... 16
(1) 配置 SSH 公钥无密登录................................................................................................................. 16
(2) 修改远程计算机/ETC/PROFILE ........................................................................................................ 17
(3) 远程参数配置 .................................................................................................................................... 18
(4) 远程部署 ............................................................................................................................................. 19
(5) 远程构建 ............................................................................................................................................. 19
(6) 远程调试 ............................................................................................................................................. 20
3.软件首选项配置 .................................................................................................................................... 22
4.ROS 命令图形化列表 .......................................................................................................................... 22
(1) ROSCORE、RVIZ、RQT-RECONFIGURE、RQT-GRAPH 启动 ..................................................... 22
(2) 显示活动话题/节点/服务,以及已安装的包/消息/服务 ..................................................... 23
5.ROS 包管理器 ........................................................................................................................................ 24
七.FAQ .............................................................................................................................................................. 26
1. 如何导入已有的 ROS 工作区? ......................................................................................................... 26
2. 如何进行软件升级? ............................................................................................................................. 27
3. 如何修改界面语言? ............................................................................................................................. 27
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