188 lines
5.2 KiB
Markdown
188 lines
5.2 KiB
Markdown
# <p align="center">ROS_Learn</p>
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## 实验一
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### ROS-noetic安装，应用于Ubuntu20.04lts<br>注：最好全程使用root权限
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切换ubuntu软件源，访问清华源来提升下载速度。
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```c
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sudo vim /etc/apt/sources.list # 进入apt下载源文件
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```
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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
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```c
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# 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
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deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
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deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
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deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
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deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
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deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
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deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
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# 以下安全更新软件源包含了官方源与镜像站配置，如有需要可自行修改注释切换
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deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
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deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
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# 预发布软件源，不建议启用
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deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
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deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
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```
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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>
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<br>
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在命令行中输入下列命令添加ROS源地址。
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```c
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sudo sh -c 'echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list'
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```
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设置密钥
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```c
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-keys 6A030B21B4D2B67B
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```
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更新软件源
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```c
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sudo apt update
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```
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安装ROS-noetic（适用于Ubuntu20.04Lts）
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```c
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sudo apt install ros-noetic-desktop-full
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```
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初始化 rosdep
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```c
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sudo rosdep init
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rosdep update
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```
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配置环境变量
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```c
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source /opt/ros/noetic/setup.bash
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source ~/.bashrc
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```
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安装ROS-python3工具包
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```c
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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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```
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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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# 确保环境配置
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source /opt/ros/noetic/setup.bash
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echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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# 确保ROS安装完整
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sudo apt install --reinstall ros-noetic-desktop-full
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# 检测roslaunch是否安装
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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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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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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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sudo chown -R 用户名:用户名 /路径
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```
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#### 启动roscore
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```c
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roscore
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```
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启动小乌龟
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```c
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rosrun turtlesim turtlesim_node
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```
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控制小乌龟（新终端窗口打开）
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```c
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rosrun turtlesim turtle_teleop_key
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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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### ROS中话题通信
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编译工作空间
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```c
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catkin_make
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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 /文件路径/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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```c
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source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
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```
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启动roscore（终端A）
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```c
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roscore
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```
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启动订阅端（终端B）
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```c
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rosrun Topic_Newsletter Subscriber_TN.py
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```
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启动发送端（终端C）
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```c
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rosrun Topic_Newsletter Publisher_TN.py
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```
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启动RViz（终端D）
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```c
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rviz
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```
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将RViz左侧 Global Options 面板中 Fixed Frame 设为 map （默认无需修改）。<br>
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在 Displays 面板中，点击 Add，添加 Marker 类型。
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### 结果图
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终端运行数据结果：<br>
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RViz图像：<br>
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## 实验三
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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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```c
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catkin_make
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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 /文件路径/程序名.py
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```
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添加环境变量
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```c
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source /home/zmn/Gitea/ROS_Learn/devel/setup.bash
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```
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启动roscore（终端A）
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```c
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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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启动订阅端（也是客户端）（终端C）
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```c
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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 Publisher_S.py
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```
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启动RViz（终端F）
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```c
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rviz
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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 。<br>
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在 Displays 面板中，点击 Add，添加 Marker 类型。
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### 结果图
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终端运行数据结果：<br>
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RViz图像：<br>
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