ROS 应用 1 2014年12月29日-优快云博客

本文链接：https://blog.youkuaiyun.com/sfe1012/article/details/42240693

本文详细介绍ROS（机器人操作系统）的安装配置流程，包括使用中国镜像源进行安装的方法，并指导如何创建ROS工作区及首个ROS包。此外，还介绍了基本的ROS文件系统浏览命令，以及如何理解和操作ROS节点。

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安装：http://wiki.ros.org/indigo/Installation/Ubuntu ：注意添加中国的镜像

sudo sh -c '. /etc/lsb-release && echo "deb http://mirror.sysu.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

sudo sh -c '. /etc/lsb-release && echo "deb http://101.227.245.14/mirror-cn-sh/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

开启应用之旅：http://wiki.ros.org/ROS/Tutorials

Create a ROS Workspace 创建工作区间 http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace

$ cd ~/catkin_ws/
$ catkin_make

$ source devel/setup.bash

了解三个命令 http://wiki.ros.org/ROS/Tutorials/NavigatingTheFilesystem 如何查看ROS文件系统

rospack

roscd

rosls

Creating a ROS Package 创建一个ROS包 catkin方法 http://wiki.ros.org/ROS/Tutorials/CreatingPackage

# You should have created this in the Creating a Workspace Tutorial
$ cd ~/catkin_ws/src

$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

$ rospack depends1 beginner_tutorials

$ roscd beginner_tutorials
$ cat package.xml

$ rospack depends1 rospy

$ rospack depends beginner_tutorials

build a package 编译一个package http://wiki.ros.org/ROS/Tutorials/BuildingPackages

$ cd ~/catkin_ws/
$ ls src

$ catkin_make

$ ls

Understanding ROS Nodes 理解ROS 节点 http://wiki.ros.org/ROS/Tutorials/UnderstandingNodes

$ roscore

Open up a new terminal, and let's use rosnode to see what running roscore did...

$ rosnode list

$ rosnode info /rosout

Then, in a new terminal:

$ rosrun turtlesim turtlesim_node

In a new terminal:

$ rosnode list

$ rosrun turtlesim turtlesim_node __name:=my_turtle

$ rosnode list

$ rosnode ping my_turtle