跑ros教程（私人）

最新推荐文章于 2024-08-09 08:26:40 发布

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最新推荐文章于 2024-08-09 08:26:40 发布 · 642 阅读

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CC 4.0 BY-SA版权

这篇博客详细介绍了如何在ROS环境中进行一系列操作，包括使用新的终端、刷新rqt_graph、查看节点参数、更改记录器级别、编辑配置文件、创建及修改源代码文件，以及使用消息等步骤。

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   printenv | grep ROS
    source /opt/ros/kinetic/setup.bash
    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/
    catkin_make
    source devel/setup.bash
    echo $ROS_PACKAGE_PATH  #/home/wsy/catkin_ws/src:/opt/ros/kinetic/share
    sudo apt-get install ros-kinetic-ros-tutorials
    rospack find roscpp   #/opt/ros/kinetic/share/roscpp
    roscd roscpp
    pwd    #/opt/ros/melodic/share/roscpp
    echo $ROS_PACKAGE_PATH  #/home/wsy/catkin_ws/src:/opt/ros/melodic/share
    roscd roscpp/cmake
    pwd  #/opt/ros/melodic/share/roscpp/cmake
    rosls roscpp_tutorials #cmake launch package.xml  srv
    roscd roscpp_tut<<< now push the TAB key >>> #roscd roscpp_tutorials/
    roscd tur<<< now push the TAB key >>> #roscd turtle
    <<< now push the TAB key again >>> #turtle_actionlib/  turtlesim/         turtle_tf/
    roscd turtles<<< now push the TAB key >>> #roscd turtlesim/
    rosls <<< now push the TAB key twice >>>
    cd ~/catkin_ws/src
    catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
    cd ~/catkin_ws
    catkin_make
    . ~/catkin_ws/devel/setup.bash
    rospack depends1 beginner_tutorials #rospack depends1 beginner_tutorials 
    roscd beginner_tutorials
    cat package.xml
    rospack depends1 rospy
    rospack depends beginner_tutorials
    source /opt/ros/kinetic/setup.bash    
    #In a catkin workspace
    catkin_make
    catkin_make install  # (optionally)
    cd ~/catkin_ws/
    ls src  #beginner_tutorials/  CMakeLists.txt@  
    catkin_make
    ls #build devel src
    sudo apt-get install ros-kinetic-ros-tutorials
    roscore   #roscore是使用ROS时应该运行的第一件事。

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    source ./devel/setup.bash
    rosnode list#/rosout
    rosnode info /rosout
    rosrun turtlesim turtlesim_node

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In a new terminal:

rosnode list#/rosout /turtlesim
rosrun turtlesim turtlesim_node __name:=my_turtle
rosnode list#/my_turtle /rosout
rosnode ping my_turtle

原来的终端关了，打开新的终端

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key      #Use arrow keys to move the turtle.

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sudo apt-get install ros-kinetic-rqt
sudo apt-get install ros-kinetic-rqt-common-plugins
rosrun rqt_graph rqt_graph

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rostopic -h

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rostopic<<< now push the TAB key >>>#bw    echo  find  hz    info  list  pub   type  
rostopic echo /turtle1/cmd_vel    #调到turtle_teleop_key终端，使小乌龟移

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