ROS 常用命令
flyfish
版本Ubuntu16.04 Kinetic
安装ROS部分
添加国内源
任选一个
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
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'
添加 keys
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
桌面完整版
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
初始化 rosdep
sudo rosdep init
rosdep update
环境配置
echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc
source ~/.bashrc
其他依赖
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
程序通常放置路径
Base path: /home/user/catkin_ws
Source space: /home/user/catkin_ws/src （源码路径）
Build space: /home/user/catkin_ws/build
Devel space: /home/user/catkin_ws/devel
Install space: /home/user/catkin_ws/install
创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
ROS多机运行设置
如果不想每次启动新的终端都要写一遍export
就写入 .bashrc 文件中
sudo gedit .bashrc
192.168.0.29是远程机器
192.168.0.28是本机
export ROS_MASTER_URI=http://192.168.0.29:11311/
export ROS_HOSTNAME=192.168.0.28
export ROS_IP=192.168.0.28
常用命令
可视化urdf
roslaunch urdf_tutorial display.launch model:=’/home/username/catkin_ws/src/*.urdf’
启动MoveIt助手
rosrun moveit_setup_assistant moveit_setup_assistant
启动rviz
rosrun rviz rviz
关闭所有节点
rosnode kill -a
调用服务
rosservice call /service_name service-args
运行节点
rosrun package executable
ubuntu
远程控制
客户端 ssh [email protected]
客户端 或者使用Putty
或者服务器启动vncserver，采用vncviewer
查看opencv版本
pkg-config --modversion opencv
查看Google Protocol Buffer版本
protoc --version
安装包
1 move_base_msgs
sudo apt-get install ros-kinetic-navigation
2 dynamixel_msgs
sudo apt-get install ros-kinetic-dynamixel-controllers ros-kinetic-dynamixel-driver ros-kinetic-dynamixel-msgs ros-kinetic-dynamixel-motor
3 moveit_simple_grasps
sudo apt-get install ros-kinetic-moveit-visual-tools
https://github.com/davetcoleman/moveit_simple_grasps.git
kinetic-devel
4 pcl-conversions
sudo apt-get install ros-kinetic-pcl-conversions
sudo apt-get install ros-kinetic-pcl-ros
sudo apt-get install ros-kinetic-pcl-msgs
5 openni2_launch
sudo apt-get install ros-kinetic-openni2-camera
sudo apt-get install ros-kinetic-openni2-launch
6 image-view
sudo apt-get install ros-kinetic-image-view
run
rosrun image_view image_view image:=/camera/depth/image_raw
rosrun image_view image_view image:=/camera/rgb/image_raw
7 astra
sudo apt-get install ros-kinetic-astra-camera ros-kinetic-astra-launch
run
roslaunch astra_launch astra.launch
8 Gazebo 9
sudo apt-get install ros-kinetic-gazebo9-*
上面一条命令安装以下包
ros-kinetic-gazebo9-dev
ros-kinetic-gazebo9-plugins
ros-kinetic-gazebo9-ros-control
ros-kinetic-gazebo9-msgs
ros-kinetic-gazebo9-ros
ros-kinetic-gazebo9-ros-pkgs