1.安装ros工作环境(Noetic)

2.初始化rosdep

3.测试

4.常用的操作

5.创建ROS工作区

6.创建 ROS 功能包

1.安装ros工作环境(Noetic)

乌班图20.04 是ROS Noetic Ninjemys,(我安装的最新的听说维护到2025年)

注意:18.04对应: Melodic  16.04及更早对应:Kinetic 

 

1.1 安装

选择阿里源,或中科大都成功了,推荐阿里源

  •  1、安装源

 

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、安装KEY

 

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

3、更新源

 

sudo apt update
  • 4、安装ROS(如果部分下载不了就再执行一遍就行了)

 

sudo apt install ros-noetic-desktop-full
  •  

2.初始化rosdep

但是输入sudo rosdep init
 

sudo: rosdep：找不到命令
但是会报错，所以下载了python-rosdep，然后更换hosts文件。

安装

sudo apt install python3-rosdep

如果python2 会安装失败网上推荐安装python2-rosdedp ,从pypi下载 rosdep进行离线安装

sudo gedit /etc/hosts

可以添加下面1行，也可以更换掉整个hosts文件，见这里hosts：

151.101.84.133  raw.githubusercontent.com

然后更新。

sudo rosdep init

成功会

yys@yys:~/catkin_ws/src/beginner_tutorials$ sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run

    rosdep update

失败提示

ERROR: default sources list file already exists:
    /etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize
解决办法

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

在输入sudo rosdep init 就好了

成功后输入 不要带sudo,不然会失败

rosdep update

结果如下

yys@yys:~/catkin_ws/src/beginner_tutorials$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Add distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/yys/.ros/rosdep/sources.cache

  •  6、环境变量

 

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

source ~/.bashrc

 7.安装rosinstall

//sudo apt install python3-rosinstall python-rosinstall3-generator python3-wstool build-essential 

sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

 

3. 测试

  • 1、启动

 

roscore
  • 2、打开小乌龟

 

rosrun turtlesim turtlesim_node
  • 3、键盘控制小乌龟(鼠标键盘放在这个窗口才可以)

 

rosrun turtlesim turtle_teleop_key

4.显示ros节点图

rqt_graph

4.常用的操作

 

5.列出系统所有节点

rosnode list

yys@yys:~$ rosnode list
/rosout
/teleop_turtle
/turtlesim


6.查看节点信息

rosnode info /turtlesim

--------------------------------------------------------------------------------
Node [/turtlesim]
Publications: 
 * /rosout [rosgraph_msgs/Log]
 * /turtle1/color_sensor [turtlesim/Color]
 * /turtle1/pose [turtlesim/Pose]

Subscriptions: 
 * /turtle1/cmd_vel [geometry_msgs/Twist]

Services: 
 * /clear
 * /kill
 * /reset
 * /spawn
 * /turtle1/set_pen
 * /turtle1/teleport_absolute
 * /turtle1/teleport_relative
 * /turtlesim/get_loggers
 * /turtlesim/set_logger_level


contacting node http://yys:39115/ ...
Pid: 13255
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound (56553 - 127.0.0.1:44690) [29]
    * transport: TCPROS
 * topic: /turtle1/cmd_vel
    * to: /teleop_turtle (http://yys:42039/)
    * direction: inbound (42040 - yys:58227) [31]
    * transport: TCPROS

7.列出所有话题列表

rostopic list

yys@yys:~$ rostopic list
/rosout
/rosout_agg
/turtle1/cmd_vel
/turtle1/color_sensor
/turtle1/pose
8.让海龟自动移动,(输入前一行,按tap下面就出现调位置)

rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist  "linear:
  x: 1.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"

显示上面发布命令含义

rosmsg show geometry_msgs/Twist

geometry_msgs/Vector3 linear
  float64 x
  float64 y
  float64 z
geometry_msgs/Vector3 angular
  float64 x
  float64 y
  float64 z

9.查看ros服务所有列表

rosservice list

yys@yys:~$ rosservice list
/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/spawn
/teleop_turtle/get_loggers
/teleop_turtle/set_logger_level
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/get_loggers
/turtlesim/set_logger_level


10.增加一个乌龟(如图两个海龟name起个名字)

rosservice call /spawn "x: 2.0
y: 2.0
theta: 0.0
name: 'turtle2'"

用rosservice list发现多了一个乌龟

rosservice list

yys@yys:~$ rosservice list
/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/spawn
/teleop_turtle/get_loggers
/teleop_turtle/set_logger_level
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtle2/set_pen
/turtle2/teleport_absolute
/turtle2/teleport_relative
/turtlesim/get_loggers
/turtlesim/set_logger_level


11.记录话题记录

rosbag record -a -o cmd_record

yys@yys:~$ rosbag record -a -o cmd_record
[ INFO] [1598876292.519372598]: Subscribing to /rosout_agg
[ INFO] [1598876292.520818767]: Recording to 'cmd_record_2020-08-31-20-18-12.bag'.
[ INFO] [1598876292.524019296]: Subscribing to /rosout
[ INFO] [1598876292.526969155]: Subscribing to /turtle1/pose
[ INFO] [1598876292.529880191]: Subscribing to /turtle1/color_sensor
[ INFO] [1598876292.533709954]: Subscribing to /turtle1/cmd_vel
[ INFO] [1598876292.536354737]: Subscribing to /turtle2/pose
[ INFO] [1598876292.539900734]: Subscribing to /turtle2/color_sensor
ctrl+c结束后,会保存主目录/home/yys/cmd_record_2020-08-31-20-18-12.bag 

rosbag play+路径文件夹名会执行刚才动作(相当于录制脚本)

rosbag play cmd_record_2020-08-31-20-18-12.bag

 

12.安装软件

显示可选安装包apt search ros-noetic,要想安装用sudo apt-get install XX 就可以了

apt search ros-noetic

 安装

sudo apt install ros-noetic-包名

例如

sudo apt install ros-noetic-ros-base

5.创建ROS工作区

工作空间（workspace）是一个存放工程开发
相关文件的文件夹。
• src：代码空间（Source Space）
• build：编译空间（Build Space）
• devel：开发空间（Development Space）
• install：安装空间（Install Space）

//建在yys目录下

创建工作空间

mkdir -p ~/catkin_ws/src

编译工作空间 

cd ~/catkin_ws

 

catkin_make

目录下会多几个文件

yys@yys:~/catkin_ws$ ls
build  devel  src

创建安装空间.放最后生成可执行文件在里面

catkin_make install

yys@yys:~/catkin_ws$ ls
build  devel  install  src

去yys目录下打开隐藏文件 .bashrc,执行命令

cd ~
sudo gedit .bashrc

每次运行终端会运行脚本

把 

source ~/catkin_ws/devel/setup.bash

写在.bashrc下面

 

02.导航文件系统

查找ros路径

rospack find roscpp

进入ros目录

roscd roscpp

进入ros子目录

roscd roscpp/cmake

 

输出当前路径pwd相当于ls

pwd

yys@yys:/opt/ros/noetic/share/roscpp/cmake$ pwd

/opt/ros/noetic/share/roscpp/cmake

 

显示当前所有文件

rosls

yys@yys:/opt/ros/noetic/share/roscpp/cmake$ rosls

roscppConfig.cmake  roscppConfig-version.cmake  roscpp-msg-extras.cmake  roscpp-msg-paths.cmake

 

Tab Completion 补全

6.创建 ROS 功能包

在yys@yys:~/catkin_ws/src$ 下用命令创建一个包,创建依赖,有python,c++

 

cd ~/catkin_ws/src

 

catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

会多beginner_tutorials文件

yys@yys:~/catkin_ws/src$ ls
beginner_tutorials  CMakeLists.txt

beginner_tutorials 下面的文件

cd beginner_tutorials/
yys@yys:~/catkin_ws/src/beginner_tutorials$ ls
CMakeLists.txt  include  package.xml  src


package.xml 功能包描述

CMakeLists.txt  描述功能包编译规则


 

查看功能包环境变量

cho $ROS_PACKAGE_PATH

yys@yys:~/catkin_ws/src/beginner_tutorials$ echo $ROS_PACKAGE_PATH 
/home/yys/catkin_ws/src:/opt/ros/noetic/share
 

现在可以使用rospack工具检查这些一阶依赖关系

进入 beginner_tutorials 文件夹

cd ~/catkin_ws/src/beginner_tutorials

运行命令 

rospack depends1 beginner_tutorials

报错

[rospack] Error: no such package beginner_tutorials

输入

source ~/catkin_ws/devel/setup.bash

再次运行 rospack depends1 beginner_tutorials

如果继续报错

[rospack] Error: the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'

报错解决方法→初始化rosdep

rospack depends1 beginner_tutorials

结果显示这样就成功了yys@yys:~/catkin_ws/src/beginner_tutorials$ rospack depends1 beginner_tutorials
roscpp
rospy
std_msgs

如果报错(下面待研究)

/opt/ros/noetic/lib/rosout/rosout: error while loading shared libraries: libroscpp.so: cannot open shared object file: No such file or directory

重装了ROS但发现问题并没有解决，最后发现其实是装某些库的时候把路径给改了，运行以下命令即可解决：

LD_LIBRARY_PATH=/opt/ros/noetic/lib

6.1 . init报错

the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'

 

修复ros录制包的时候，执行某个命令，报这个错误，报错的原因还不明白，暂时找到解决办法，参考：https://blog.csdn.net/u010918541/article/details/50445415

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
sudo rosdep init
rosdep update

 

 

7.乌版图18.04安装ROS Melodic

注意:如果是win10 linux18.04子系统,装错源也会安装失败,需要添加对应源点击→2.linux 18.04可以装ros源

7.1设置软件源(清华)：

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

设置最新的密钥：
 

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

 

sudo apt-get update

sudo apt-get install ros-melodic-desktop-full

sudo apt-get install ros-melodic-rqt*

 

 安装

sudo apt install python-rosdep
sudo vim /etc/hosts

可以添加下面1行，也可以更换掉整个hosts文件：

151.101.84.133  raw.githubusercontent.com

然后更新。

sudo rosdep init

 

rosdep update

 

 安装rosinstall

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

设置环境变量：

sudo apt install net-tools

sudo vim ~/.bashrc

 

# Set ROS melodic
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
 
# Set ROS Network
#ifconfig查看你的电脑ip地址
export ROS_HOSTNAME=192.168.31.135
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
 
# Set ROS alias command 快捷指令
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'
source ~/.bashrc

运行roscore

roscore

1。如果报错

Command 'roscore' not found, but can be installed with:

解决方案

由[1]可知，指令 “roscore” 之所以能够被执行，首先需要在文件夹 “/opt/ros/indigo/bin/” 里面存在名为 “roscore” 的二进制可执行文件，打开文件夹，检查文件是否存在：

cd /opt/ros/melodic/bin
ls -l

果然没有。

由[2]，输入：

sudo apt-get install ros-melodic-desktop
  • cd 进去再看，有了！

执行

source ~/.bashrc
  • 再次启动ROS
roscore
  • 成功了！

2。如果 roslaunch... 报错

source ~/.bashrc