ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)

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2020年9月11日 09时30分

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(1)


Noetic:

1:

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

 

2:

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

 

3:

sudo apt update

 

4:安装

sudo apt install ros-noetic-desktop-full

 

5:配置

source /opt/ros/noetic/setup.bash

 

Bash:

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

 

Zsh:

echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

 

ros-noetic-desktop-full (1.5.0-1focal.20200724.201236)

 

sudo apt install ros-noetic-

Display all 1048 possibilities? (y or n)

Foxy:

1:

sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

 

2:

sudo apt update && sudo apt install curl gnupg2 lsb-release

 

3:

sudo gedit /etc/apt/sources.list.d/ros2-latest.list

deb [arch=amd64,arm64] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/ focal main

 

4:

sudo apt update

 

5: 安装

sudo apt install ros-foxy-desktop

 

6: 配置

source /opt/ros/foxy/setup.bash

 

ros-foxy-desktop (0.9.2-1focal.20200807.222642)

sudo apt install ros-foxy-

Display all 815 possibilities? (y or n)

 

7:

sudo apt install python3-argcomplete

 

配置:Noetic和Foxy切换(Bash)

 

# ROS 1.0 noetic or ROS 2.0 foxy
echo Hello, ROS 1.0 or ROS 2.0? 1=noetic 2=foxy 
read ROS
if (($ROS==1));then
source /opt/ros/noetic/setup.bash
#export ROS_PACKAGE_PATH=/home/ros/RobTool/ROS1/Wiki/src:/home/relaybot/RobTool/Cozmo/ros/src:$ROS_PACKAGE_PATH
#source /home/ros/RobTool/ROS1/Wiki/devel/setup.bash
#export ROS_MASTER_URI=http://192.168.1.100:11311
#export ROS_IP=192.168.1.100
echo "noetic"
elif (($ROS==2));then
source /opt/ros/foxy/setup.bash
echo "foxy"
else
echo "Non-ROS"
fi

 


rosdep:

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(2)

 

案例:

 

使用新立得软件工具安装deb包。

 

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(3)

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(4)

 

点击应用:

 

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(5)


ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(6)

实物如上:

 

roslaunch mir_gazebo mir_maze_world.launch

 

仿真如下:

 

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(7)

 

环境图如下:

 

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(8)

 

可以测试各类算法。

 

foxy-turtlebot3:

 

ign-gazebo-demos(ros1+ros2):

 

$ roslaunch ros_ign_gazebo_demos
air_pressure.launch        gpu_lidar.launch
battery.launch             image_bridge.launch
camera.launch              imu.launch
create.launch              magnetometer.launch
depth_camera.launch        rgbd_camera_bridge.launch
diff_drive.launch          rgbd_camera.launch
gpu_lidar_bridge.launch

$ ros2 launch ros_ign_gazebo_demos
-a                              imu.launch.py
air_pressure.launch.py          magnetometer.launch.py
battery.launch.py               -p
camera.launch.py                –print
-d                              –print-description
–debug                         rgbd_camera_bridge.launch.py
depth_camera.launch.py          rgbd_camera.launch.py
diff_drive.launch.py            -s
gpu_lidar_bridge.launch.py      –show-all-subprocesses-output
gpu_lidar.launch.py             –show-args
image_bridge.launch.py          –show-arguments

 

Noetic:

  1. roslaunch ros_ign_gazebo_demos battery.launch
  2. rostopic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist “{linear: {x: 5.0}, angular: {z: 0.5}}”

 

Foxy:

  1. ros2 launch ros_ign_gazebo_demos battery.launch.py
  2. ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist “{linear: {x: 5.0}, angular: {z: 0.5}}”

 

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(9)

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(10)

 

电池耗尽机器人将停止运动!!!


ROS+ign_gazebo

演示如何将ign_gazebo与ROS一起使用的演示。

启动ign_gazebo

启动文件,例如:

ros2 launch ros_ign_gazebo ign_gazebo.launch.py ign_args:="shapes.sdf"

 

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(11)

 

ros1使用roslaunch

空气压力

sensor_msgs/msg/FluidPressure

 

发布流体压力读数。

ros2 launch ros_ign_gazebo_demos air_pressure.launch.py

 

相机

发布RGB相机图像和信息。

 

图像可以通过ros_ign_bridge或ROS ros_ign_image发布

 

使用图像桥接(单向,使用image_transport):

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py

 

使用常规桥接:

ros2 launch ros_ign_gazebo_demos camera.launch.py

 

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(12)

 

差速机器人

向差速驱动车辆发送命令并听其里程表。

ros2 launch ros_ign_gazebo_demos diff_drive.launch.py

 

然后取消暂停并发送命令

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

 

深度相机

深度相机数据可通过以下方式获得:

  • sensor_msgs/msg/Image,通过ros_ign_bridgeros_ign_image
  • sensor_msgs/msg/PointCloud2,通过 ros_ign_point_cloud

 

使用图像桥接(单向,使用image_transport):

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py

 

使用ign_gazebo件:

ros2 launch ros_ign_gazebo_demos depth_camera.launch.py

 

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(13)

 

GPU激光雷达

GPU激光雷达数据可通过以下方式获得:

  • sensor_msgs/msg/LaserScan,通过 ros_ign_bridge
  • sensor_msgs/msg/PointCloud2,通过ros_ign_bridgeros_ign_point_cloud

 

使用桥接:

ros2 launch ros_ign_gazebo_demos gpu_lidar_bridge.launch.py

 

使用ign_gazebo插件:

ros2 launch ros_ign_gazebo_demos gpu_lidar.launch.py

 

内部惯性导航单元

发布IMU读数。

ros2 launch ros_ign_gazebo_demos imu.launch.py

 

磁力计

发布磁场读数。

ros2 launch ros_ign_gazebo_demos magnetometer.launch.py

 

RGBD相机

RGBD摄像机数据可通过以下方式获得:

  • sensor_msgs/msg/Image,通过ros_ign_bridgeros_ign_image
  • sensor_msgs/msg/PointCloud2,通过ros_ign_bridgeros_ign_point_cloud

 

使用图像桥接(单向,使用image_transport):

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py

 

使用常规桥接:

ros2 launch ros_ign_gazebo_demos rgbd_camera_bridge.launch.py

 

使用ign_gazebo插件:

ros2 launch ros_ign_gazebo_demos rgbd_camera.launch.py

 

ROS1&2极简版安装配置案例(Noetic&Foxy@Ubuntu20.04)插图(14)

 

电池

获取电池的当前状态。

ros2 launch ros_ign_gazebo_demos battery.launch.py

 

然后发送命令,使车辆行驶并消耗电池电量

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

 

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