Ros entry notes
Preface
After working for more than two years, from industrial machinery to logistics and warehousing AGV, I slowly entered an industry that everyone may think is noble-"robots". First of all, I am not aware of how noble this profession is. Everything is fresh, just like programmers in the early days of the Internet. Wu Enda once said: Robots are a new kind of electricity. It may be that robots may be the modern industrial revolution, just as people today are inseparable from electricity, in the future, people may also be inseparable from robots. Twenty years ago, it was absolutely a tyrant who could afford to drive a car. Nowadays, you need a scooter when you go to the streets to buy food. The reason may be inseparable from the reduction of automobile manufacturing costs and shorter production cycles after the mature industrial robot technology. Perhaps just like cars and mobile phones, service robots are quietly entering thousands of households. Sneaked into the night wind, moisten things silently.
I am a mechanical engineer. Because I am developing AGV which is not very advanced equipment recently, I checked some Paper and Patent. First I have some understanding of the mechanical part of the AGV body. I slowly discovered that it is not difficult to make this kind of machinery. The key is How to put a brain on it, without a brain, it is a pile of broken copper and broken iron; a few simple sheet metal parts with a camera, lidar, the main control board is a robot, which can achieve many functions, I think this is very cool Thing.
The Internet age has made the way and process of acquiring knowledge simpler. I believe that everyone has heard that "In the past, the carriage was very slow, letters were far away, and you can only love one person in your life." Now you can tap the keyboard to send messages in groups. I saw a lot of fragmented knowledge before, and I didn’t put a thread on it. However, before I do anything, I always want to build a "tree". I first build a trunk and find where the root of the tree is and where it needs to grow. Ye, I will work hard on this. If there is no direction to do something, just like a boat traveling in the ocean, any gust of wind will be headwind. The main problem at the beginning was that I didn’t know how to build a tree trunk. I checked Ros, Linux, STM32, gyroscope, odometer, and Slam on the Internet. In the first few days, I was very panicked. I felt that there were too many things. Multidisciplinary. It’s not an exaggeration whether to persevere in oneself, inner struggle is common, and it’s not an exaggeration to toss and turn and find it hard to sleep. One day, brother Jian sent me a tutorial video of Ros robot. I probably watched it. The knowledge is very complete, and every piece is on demand. I seem to see hope. This should be the main way for me to get started. The "tree". I don’t have to understand every module I made from scratch, what research and development I do, I may give up on a small car at the beginning, not to mention that Newton is standing on the shoulders of giants to see the world, so I bought one with a huge amount of money. , I was reluctant to let the child go with the wolf, so I took a picture of a Ros robot on August 31, 2020. The goods arrived on February 9, 2020. The day of unpacking was ecstatic. I installed the virtual machine/image file in the first few days, and found that I could start the car by entering a simple two-line code in the terminal. It took me more than half a month to run all these functions away. In fact, all algorithms and models are used. It is researched by a handful of big cows. If you know how to use it, how to use it, and where you can use it. Moreover, in this era of open source and prosperity, there is no saying that there is no church apprentice to starve to death. Everyone can do nothing. Cost investment to acquire knowledge. I read several articles about Ros development, c++, python, linux programming, and RasPi development. I think Ros should be an entry point. I started to use VMware virtual machine to watch bloggers who said that various magical problems would occur. When I installed Ros, it really happened. So I rebuilt the Linux from Dell INSPIRON 3420 that I bought in college. I just used it for a few days and installed it. With Ros, it feels okay.
The purpose of writing a blog is to record the whole process of development and the problems encountered in the middle and the solutions to the problems, so as to avoid making it in the end, but I have forgotten how to do it. The next time I encounter the same problem, it is still the card owner. I can’t solve it in two days. I’m not afraid of falling, but I’m afraid of falling down in one place. It is the first time to write a blog, like Markdown is the first time to use, the text layout may be irregular, there may be something wrong, please criticize and correct me. Here I hope to meet developers who have the same interests and you who have been working hard for your dreams.
There is a saying: Linyuan envy fish, it is better to retreat and build a net. There is also a story called: The pony crosses the river. For fear of infinite truth, one inch into one inch and one inch of joy, a little bit of progress every day, small trees can also become shades of green. If you regard this Ros car as your own child, you will be able to walk into thousands of households one day, and you will be proud of it.
Finally, I quote the two sentences that Pu Songling said when he repeatedly failed in the imperial examinations and was extremely desperate: Those who have aspirations will succeed in breaking the boat. The Bai Er Qin Guan will ultimately belong to Chu; the hardworking people, the sky does not bear the burden, the salary and the courage, three thousand more. A can swallow Wu. mutual encouragement.
David-大王
Install Linux Ubuntu on Dell Notebook
To be sorted out
Install Ros under Ubuntu
To be sorted out
Ros example follow MOOC course
1. Learning materials
gitbub code address: please click to view
lecture notes address: please click to view
MOOC course address: please click to view
2. Process
See the lecture notes for details.
3. Problems encountered
4, Roboware studio
Installation reference link: roboware studio installation tutorial
Roboware studio tutorial: tutorial
Tip: be sure to download the corresponding deb on github! ! !
5. The process of creating a ros workspace
1 mkdir -p catkin_ws/src #创建名字为catkin的ros工作空间
2 catkin_make #对工作空间进行初始化
3 catkin_creat_pkg test2 roscpp rospy std_msgs nav_msgs #在src下创建一个名称为test2的功能包（节点）,后面的为功能对应的依赖
6. How to download pkg from github
Video tutorial: Video tutorial
Text tutorial: Text tutorial
github download command:
git clone https://github.com/DroidAITech/ROS-Academy-for-Beginners.git
#下载命令所在的位置应该在src目录下
Unfinished