机器人程序设计课程配套系统镜像使用说明( Ubuntu 14.04.5 + ROS indigo )

本镜像主要针对机器人程序设计本科课程,供学生课程学习与实践操作使用,基于ROS爱好者和学生使用的反馈意见对之前发布的版本进行修正和补充,在此致谢。更新日期为:2017.03.17,ROS学习推荐网址如下:

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| ROS官网 | 易科 | ROSClub古月居 | 创客智造 | ROSwiki |

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U盘镜像可以使用Universal-USB-InstallerUltraISO,依据电脑配置情况。

下载链接:http://pan.baidu.com/s/1nvFLoyl 密码:z62f 系统密码:cslg。

镜像制作为U盘启动,可以参考:

1 http://blog.csdn.net/zhangrelay/article/details/53324759

2 http://blog.csdn.net/zhangrelay/article/details/54632130

在Home文件夹的catkin_ws下,配置包如下:

在Home文件夹的Robotdemo_ws下,配置包如下:

其中tutorials包含了ROS官网部分核心的教程:

下面以个人学习ROS流程做一些分享:

首先需要认真做一遍到三遍ros_tutorials,推荐中英文对照学习,举例:

.h文件并不存在的疑惑。节选自:1 2

如下:en cn

Now, let's break the code down.

切换行号显示

   1 #include "ros/ros.h"
   2 #include "beginner_tutorials/AddTwoInts.h"
   3 

beginner_tutorials/AddTwoInts.h is the header file generated from the srv file that we created earlier.

现在,让我们来逐步分析代码。

切换行号显示

   1 #include "ros/ros.h"
   2 #include "beginner_tutorials/AddTwoInts.h"
   3 

beginner_tutorials/AddTwoInts.h是由编译系统自动根据我们先前创建的srv文件生成的对应该srv文件的头文件。

友情提醒,请不要忽略细节部分学习,不要停留在跑通demo的层面。

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核心 ROS 教程

初级

  1. 安装并配置ROS环境本教程详细描述了ROS的安装与环境配置。
  2. ROS文件系统介绍本教程介绍ROS文件系统概念,包括命令行工具roscd、rosls和rospack的使用。
  3. 创建ROS程序包本教程介绍如何使用roscreate-pkgcatkin创建一个新程序包,并使用rospack查看程序包的依赖关系。
  4. 编译ROS程序包本教程介绍ROS程序包的编译方法
  5. 理解 ROS节点本教程主要介绍 ROS 图(graph)概念 并讨论roscorerosnoderosrun 命令行工具的使用。
  6. 理解ROS话题本教程介绍ROS话题(topics)以及如何使用rostopicrxplot 命令行工具。
  7. 理解ROS服务和参数本教程介绍了ROS 服务和参数的知识,以及命令行工具rosservicerosparam的使用方法。
  8. 使用 rqt_console 和 roslaunch本教程介绍如何使用rqt_consolerqt_logger_level进行调试,以及如何使用roslaunch同时运行多个节点。早期版本中的rqt工具并不完善,因此,如果你使用的是“ROS fuerte”或更早期的版本,请同时参考这个页面学习使用老版本的“rx”工具。
  9. 使用rosed编辑ROS中的文件本教程将展示如何使用rosed来简化编辑过程。
  10. 创建ROS消息和ROS服务本教程详细介绍如何创建并编译ROS消息和服务,以及rosmsg, rossrv和roscp命令行工具的使用。
  11. 编写简单的消息发布器和订阅器 (C++)本教程将介绍如何用 C++ 编写发布器节点和订阅器节点。
  12. 写一个简单的消息发布器和订阅器 (Python)本教程将通过Python编写一个发布器节点和订阅器节点。
  13. 测试消息发布器和订阅器本教程将测试上一教程所写的消息发布器和订阅器。
  14. 编写简单的服务器和客户端 (C++)本教程介绍如何用 C++ 编写服务器 Service 和客户端 Client 节点。
  15. 编写简单的Service和Client (Python)本教程介绍如何用Python编写Service和Client节点。
  16. 测试简单的Service和Client本教程将测试之前所写的Service和Client。
  17. 录制与回放数据本教程将教你如何将ROS系统运行过程中的数据录制到一个.bag文件中,然后通过回放数据来重现相似的运行过程。
  18. roswtf入门本教程介绍了roswtf工具的基本使用方法。
  19. 探索ROS维基本教程介绍了ROS维基(wiki.ros.org)的组织结构以及使用方法。同时讲解了如何才能从ROS维基中找到你需要的信息。
  20. 接下来做什么?本教程将讨论获取更多知识的途径,以帮助你更好地使用ROS搭建真实或虚拟机器人。

现在你已经完成了初级教程的学习,请回答这个 问卷来检验一下自己的学习效果。

中级

大多数客户端 API 的使用教程可以在相关程序包 (roscpprospyroslisp) 中找到。

  1. 手动创建ROS package本教程将展示如何手动创建ROS package
  2. 管理系统依赖项本教程将展示如何使用rosdep安装系统依赖项.
  3. Roslaunch在大型项目中的使用技巧本教程主要介绍roslaunch在大型项目中的使用技巧。重点关注如何构建launch文件使得它能够在不同的情况下重复利用。我们将使用 2dnav_pr2 package作为学习案例。
  4. ROS在多机器人上的使用本教程将展示如何在两台机器上使用ROS系统,详述了使用ROS_MASTER_URI来配置多台机器使用同一个master。
  5. 自定义消息本教程将展示如何使用ROS Message Description Language来定义你自己的消息类型.
  6. 在python中使用C++类本教程阐述一种在python中使用C++类的方法。
  7. 如何编写教程(概述:)本教程介绍在编辑ros.org维基时可以用到的模板和宏定义,并附有示例以供参考。

--------

这期间可以参考部分ROS书籍,如机器人操作系统(ROS)浅析等。

然后进行案例学习,例如ROS机器人程序设计ROS By Example 1 2两卷等。

同时,需要学习ROS专题,如下:

--------

ROS 函数库教程

ROS 接口的函数库教程

--------

其他关于教材说明可以参考:http://blog.csdn.net/zhangrelay/article/details/53056245

--------

参考博客关于本课程的介绍和补充可以获得更好的学习效果。

indigo专栏:http://blog.csdn.net/column/details/13335.html

kinetic专栏:http://blog.csdn.net/column/details/13113.html

--------

部分书籍和系统备份方法在Documents文件夹:

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~~镜像中部分示例节选~~

TIAgo示例:

招手示意:

抓取和放置:

拐角识别:

人体识别:

×××××××××××××××××××××××××××××××××××××××××××××××××××××××××××××××

reemc示例:

reem示例:

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

附录:

ros by example示例节选

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_bringup fake_turtlebot.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_nav fake_nav_test.launch

relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx1_nav`/amcl.rviz

relaybot@exbot-ThinkPad-T420s:~$ roslaunch pocketsphinx robocup.launch

relaybot@exbot-ThinkPad-T420s:~$ rostopic echo /recognizer/output

data: no

---

data: hello

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_bringup fake_turtlebot.launch

relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx1_nav`/s.rviz relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_speech voice_nav_commands.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_speech turtlebot_voice_nav.launch

relaybot@exbot-ThinkPad-T420s:~$ rqt_console

[INFO] [WallTime: 1489647557.650591] go move forward

[INFO] [WallTime: 1489647551.253540] Ready to receive voice commands

[INFO] [WallTime: 1489647557.652520] Command: forward

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_vision usb_cam.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch openni2_launch openni2.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_vision face_tracker2.launch

relaybot@exbot-ThinkPad-T420s:~$ rosrun openni_tracker openni_tracker [ INFO] [1489655631.531912640]: New User 1 [ INFO] [1489655632.494213298]: Pose Psi detected for user 1 [ INFO] [1489655644.459315818]: Lost user 1 [ INFO] [1489655653.171711624]: New User 1 [ INFO] [1489655656.975129018]: Pose Psi detected for user 1 [ INFO] [1489655669.117474462]: Lost user 1 [ INFO] [1489655709.434207386]: New User 1 [ INFO] [1489655731.720007590]: Pose Psi detected for user 1 [ INFO] [1489655746.866101386]: Lost user 1

relaybot@exbot-ThinkPad-T420s:~$ roslaunch openni2_launch openni2.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_vision face_tracker2.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_apps object_tracker.launch relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx1_bringup fake_turtlebot.launch

relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx1_nav`/s.rviz

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_tasks fake_turtlebot.launch

relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx2_tasks`/nav_tasks.rviz

relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_tasks patrol_smach.py

relaybot@exbot-ThinkPad-T420s:~$ rosrun smach_viewer smach_viewer.py

relaybot@exbot-ThinkPad-T420s:~$ rosrun rviz rviz -d `rospack find rbx2_tasks`/nav_tasks.rviz

relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_tasks clean_house_smach.py

relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_tasks add_remove_tree.py Creating Print Message task for Take me to your leader! Creating counting task to 10 Behavior Tree Structure  --> PRINT_AND_COUNT      --> PRINT_MESSAGE      --> COUNT Take 1 me 2 to 3 your 4 leader!

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_description pi_robot_with_two_arms.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_utils pub_3d_target.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rbx2_bringup pi_robot_with_gripper.launch sim:=true

relaybot@exbot-ThinkPad-T420s:~$ roslaunch pi_robot_moveit_config move_group.launch

relaybot@exbot-ThinkPad-T420s:~$  rosrun rviz rviz -d `rospack find \ rbx2_arm_nav`/config/pick_and_place.rviz

relaybot@exbot-ThinkPad-T420s:~$ rosrun rbx2_arm_nav moveit_pick_and_place_demo.py

http://unboundedrobotics.github.io/ubr1_preview/intro.html

relaybot@exbot-ThinkPad-T420s:~$ roslaunch ubr1_gazebo simulation_grasping.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch ubr1_grasping grasping.launch

relaybot@exbot-ThinkPad-T420s:~$ rosrun ubr1_grasping pick_and_place.py --once

.............................................................................................................................................................

Learning ROS for Robotics Programming - Second Edition示例节选

第一章

relaybot@exbot-ThinkPad-T420s:~$ roscore ... logging to /home/relaybot/.ros/log/ada4bb56-0990-11e7-a6e3-0811968dc4b0/roslaunch-exbot-ThinkPad-T420s-3219.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://exbot-ThinkPad-T420s:38543/ ros_comm version 1.11.20 SUMMARY ======== PARAMETERS  * /rosdistro: indigo  * /rosversion: 1.11.20 NODES auto-starting new master process[master]: started with pid [3231] ROS_MASTER_URI=http://exbot-ThinkPad-T420s:11311/ setting /run_id to ada4bb56-0990-11e7-a6e3-0811968dc4b0 process[rosout-1]: started with pid [3244] started core service [/rosout] ^C[rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

第二章

relaybot@exbot-ThinkPad-T420s:~$ rosrun chapter2_tutorials chap2_example4 [ INFO] [1489590444.510089537]: Reconfigure Request: 1 0.100000 Chapter2_dynamic_reconfigure True 1 [ INFO] [1489590444.513385410]: Spinning node

第三章

relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter3_tutorials example10.launch

第四章

relaybot@exbot-ThinkPad-T420s:~$ rosrun joy joy_node [ INFO] [1489592223.223458700]: Opened joystick: /dev/input/js0. deadzone_: 0.050000. --- header:   seq: 138   stamp:     secs: 1489592265     nsecs: 143842390   frame_id: '' axes: [-0.35972166061401367, -0.0, -1.0, 0.07760214805603027, 0.0, 0.0, 0.0] buttons: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] ---

第五章

relaybot@exbot-ThinkPad-T420s:~$ roslaunch usb_cam usb_cam-test.launch

第六章

relaybot@exbot-ThinkPad-T420s:~$ rosrun chapter6_tutorials pcl_matching

第7章

relaybot@exbot-ThinkPad-T420s:~$ roslaunch robot1_gazebo gazebo_wg.launch

第8章

relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter8_tutorials gazebo_mapping_robot.launch model:="`rospack find robot1_description`/urdf/robot1_base_04.xacro"

第9章

relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter9_tutorials chapter9_configuration_gazebo.launch

relaybot@exbot-ThinkPad-T420s:~$ roslaunch chapter9_tutorials move_base.launch

第10章

relaybot@exbot-ThinkPad-T420s:~$ roslaunch rosbook_arm_moveit_config demo.launch relaybot@exbot-ThinkPad-T420s:~$ roslaunch rosbook_arm_pick_and_place grasp_generator_server.launch relaybot@exbot-ThinkPad-T420s:~$ rosrun rosbook_arm_pick_and_place pick_and_place.py

----------

功能包编译,优先推荐catkin build。

relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tutorials$ catkin build
--------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/indigo
Workspace:                   /home/relaybot/Robotdemo_ws/tutorials
--------------------------------------------------------------------------
Source Space:       [exists] /home/relaybot/Robotdemo_ws/tutorials/src
Log Space:          [exists] /home/relaybot/Robotdemo_ws/tutorials/logs
Build Space:        [exists] /home/relaybot/Robotdemo_ws/tutorials/build
Devel Space:        [exists] /home/relaybot/Robotdemo_ws/tutorials/devel
Install Space:      [unused] /home/relaybot/Robotdemo_ws/tutorials/install
DESTDIR:            [unused] None
--------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------------------
[build] Found '28' packages in 0.0 seconds.                                    
[build] Package table is up to date.                                           
Starting  >>> actionlib_tutorials                                              
Starting  >>> interactive_marker_tutorials                                     
Starting  >>> librviz_tutorial                                                 
Starting  >>> nodelet_tutorial_math                                            
Finished  <<< nodelet_tutorial_math                         [ 0.2 seconds ]    
Starting  >>> pluginlib_tutorials                                              
Finished  <<< interactive_marker_tutorials                  [ 0.3 seconds ]    
Starting  >>> roscpp_tutorials                                                 
Finished  <<< librviz_tutorial                              [ 0.2 seconds ]    
Finished  <<< pluginlib_tutorials                           [ 0.2 seconds ]    
Finished  <<< roscpp_tutorials                              [ 0.6 seconds ]    
Starting  >>> rospy_tutorials                                                  
Starting  >>> rosserial_msgs                                                   
Starting  >>> rviz_plugin_tutorials                                            
Finished  <<< actionlib_tutorials                           [ 1.0 seconds ]    
Starting  >>> rviz_python_tutorial                                             
Finished  <<< rviz_plugin_tutorials                         [ 0.2 seconds ]    
Finished  <<< rviz_python_tutorial                          [ 0.2 seconds ]    
Starting  >>> turtlesim                                                        
Finished  <<< rospy_tutorials                               [ 0.5 seconds ]    
Starting  >>> urdf_tutorial                                                    
Starting  >>> visualization_marker_tutorials                                   
Finished  <<< rosserial_msgs                                [ 0.5 seconds ]    
Starting  >>> rosserial_client                                                 
Finished  <<< visualization_marker_tutorials                [ 0.2 seconds ]    
Starting  >>> rosserial_python                                                 
Finished  <<< urdf_tutorial                                 [ 0.2 seconds ]    
Finished  <<< rosserial_client                              [ 0.2 seconds ]    
Starting  >>> rosserial_arduino                                                
Finished  <<< rosserial_python                              [ 0.2 seconds ]    
Starting  >>> rosserial_embeddedlinux                                          
Starting  >>> rosserial_windows                                                
Finished  <<< turtlesim                                     [ 0.7 seconds ]    
Starting  >>> rosserial_server                                                 
Finished  <<< rosserial_arduino                             [ 0.3 seconds ]    
Starting  >>> rosserial_xbee                                                   
Finished  <<< rosserial_embeddedlinux                       [ 0.2 seconds ]    
Starting  >>> turtle_actionlib                                                 
Finished  <<< rosserial_windows                             [ 0.2 seconds ]    
Starting  >>> turtle_tf                                                        
Finished  <<< rosserial_server                              [ 0.2 seconds ]    
Starting  >>> turtle_tf2                                                       
Finished  <<< rosserial_xbee                                [ 0.2 seconds ]    
Finished  <<< turtle_tf2                                    [ 1.2 seconds ]    
Finished  <<< turtle_tf                                     [ 1.5 seconds ]    
Finished  <<< turtle_actionlib                              [ 1.6 seconds ]    
[build] Summary: All 23 packages succeeded!                                    
[build]   Ignored:   5 packages were skipped or are blacklisted.               
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 4.6 seconds total.                                            
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tutorials$ 
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reem$ catkin build
---------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/indigo
Workspace:                   /home/relaybot/Robotdemo_ws/reem
---------------------------------------------------------------------
Source Space:       [exists] /home/relaybot/Robotdemo_ws/reem/src
Log Space:          [exists] /home/relaybot/Robotdemo_ws/reem/logs
Build Space:        [exists] /home/relaybot/Robotdemo_ws/reem/build
Devel Space:        [exists] /home/relaybot/Robotdemo_ws/reem/devel
Install Space:      [unused] /home/relaybot/Robotdemo_ws/reem/install
DESTDIR:            [unused] None
---------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
---------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
---------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
---------------------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------------------
[build] Found '41' packages in 0.0 seconds.                                    
[build] Package table is up to date.                                           
Starting  >>> follow_planner                                                   
Starting  >>> head_action                                                      
Starting  >>> joy_teleop                                                       
Starting  >>> key_teleop                                                       
Finished  <<< key_teleop                                          [ 0.2 seconds ]
Starting  >>> object_recognition_clusters                                      
Finished  <<< follow_planner                                      [ 0.3 seconds ]
Starting  >>> pal_behaviour_msgs                                               
Finished  <<< joy_teleop                                          [ 0.2 seconds ]
Starting  >>> pal_common_msgs                                                  
Finished  <<< object_recognition_clusters                         [ 0.3 seconds ]
Starting  >>> pal_control_msgs                                                 
Finished  <<< head_action                                         [ 1.6 seconds ]
Starting  >>> pal_detection_msgs                                               
Finished  <<< pal_common_msgs                                     [ 1.4 seconds ]
Starting  >>> pal_device_msgs                                                  
Finished  <<< pal_control_msgs                                    [ 1.4 seconds ]
Finished  <<< pal_behaviour_msgs                                  [ 2.1 seconds ]
Starting  >>> pal_interaction_msgs                                             
Finished  <<< pal_device_msgs                                     [ 0.9 seconds ]
Starting  >>> pal_motion_model_msgs                                            
Finished  <<< pal_detection_msgs                                  [ 1.8 seconds ]
Starting  >>> pal_multirobot_msgs                                              
Finished  <<< pal_motion_model_msgs                               [ 1.0 seconds ]
Starting  >>> pal_navigation_msgs                                              
Finished  <<< pal_multirobot_msgs                                 [ 1.1 seconds ]
Finished  <<< pal_interaction_msgs                                [ 2.6 seconds ]
Starting  >>> pal_tablet_msgs                                                  
Starting  >>> pal_video_recording_msgs                                         
Starting  >>> pal_vision_msgs                                                  
Finished  <<< pal_navigation_msgs                                 [ 3.2 seconds ]
Starting  >>> pal_walking_msgs                                                 
Finished  <<< pal_tablet_msgs                                     [ 1.2 seconds ]
Starting  >>> pal_wifi_localization_msgs                                       
Finished  <<< pal_video_recording_msgs                            [ 1.2 seconds ]
Starting  >>> reem_2dnav                                                       
Finished  <<< reem_2dnav                                          [ 0.6 seconds ]
Starting  >>> reem_controller_configuration                                    
Finished  <<< reem_controller_configuration                       [ 0.5 seconds ]
Finished  <<< pal_walking_msgs                                    [ 1.9 seconds ]
Finished  <<< pal_wifi_localization_msgs                          [ 2.2 seconds ]
Starting  >>> reem_controller_configuration_gazebo                             
Starting  >>> reem_hardware_gazebo                                             
Starting  >>> reem_maps                                                        
Finished  <<< pal_vision_msgs                                     [ 3.5 seconds ]
Starting  >>> reem_object_recognition                                          
Finished  <<< reem_controller_configuration_gazebo                [ 0.4 seconds ]
Starting  >>> reem_rgbd_launch                                                 
Finished  <<< reem_hardware_gazebo                                [ 0.5 seconds ]
Starting  >>> twist_mux_msgs                                                   
Finished  <<< reem_maps                                           [ 0.4 seconds ]
Starting  >>> reem_tabletop_grasping                                           
Finished  <<< reem_object_recognition                             [ 0.3 seconds ]
Starting  >>> pal_gazebo_plugins                                               
Finished  <<< reem_rgbd_launch                                    [ 0.4 seconds ]
Finished  <<< pal_gazebo_plugins                                  [ 1.1 seconds ]
Finished  <<< twist_mux_msgs                                      [ 2.2 seconds ]
Starting  >>> reem_description                                                 
Starting  >>> twist_mux                                                        
Finished  <<< reem_tabletop_grasping                              [ 2.3 seconds ]
Finished  <<< reem_description                                    [ 0.4 seconds ]
Starting  >>> reem_moveit_config                                               
Finished  <<< twist_mux                                           [ 0.4 seconds ]
Finished  <<< reem_moveit_config                                  [ 0.3 seconds ]
Starting  >>> reem_bringup                                                     
Finished  <<< reem_bringup                                        [ 0.3 seconds ]
Starting  >>> reem_gazebo                                                      
Finished  <<< reem_gazebo                                         [ 0.3 seconds ]
Starting  >>> reem_2dnav_gazebo                                                
Finished  <<< reem_2dnav_gazebo                                   [ 0.3 seconds ]
[build] Summary: All 35 packages succeeded!                                    
[build]   Ignored:   6 packages were skipped or are blacklisted.               
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 16.3 seconds total.                                           
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reem$ 
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reemc$ catkin build 
----------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/indigo
Workspace:                   /home/relaybot/Robotdemo_ws/reemc
----------------------------------------------------------------------
Source Space:       [exists] /home/relaybot/Robotdemo_ws/reemc/src
Log Space:          [exists] /home/relaybot/Robotdemo_ws/reemc/logs
Build Space:        [exists] /home/relaybot/Robotdemo_ws/reemc/build
Devel Space:        [exists] /home/relaybot/Robotdemo_ws/reemc/devel
Install Space:      [unused] /home/relaybot/Robotdemo_ws/reemc/install
DESTDIR:            [unused] None
----------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
----------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
----------------------------------------------------------------------


----------------------------------------------------------------------
WARNING: Your current environment's CMAKE_PREFIX_PATH is different
from the cached CMAKE_PREFIX_PATH used the last time this workspace
was built.

If you want to use a different CMAKE_PREFIX_PATH you should call
`catkin clean` to remove all references to the previous
CMAKE_PREFIX_PATH.

Cached CMAKE_PREFIX_PATH:
	/opt/ros/indigo
Current CMAKE_PREFIX_PATH:
	/home/relaybot/catkin_ws/devel:/opt/ros/indigo
----------------------------------------------------------------------

[build] Found '38' packages in 0.0 seconds.                                    
[build] Package table is up to date.                                           
Starting  >>> gazebo_msgs                                                      
Starting  >>> head_action                                                      
Starting  >>> joy_teleop                                                       
Starting  >>> key_teleop                                                       
Finished  <<< key_teleop                                           [ 0.3 seconds ]
Finished  <<< joy_teleop                                           [ 0.4 seconds ]
Starting  >>> pal_behaviour_msgs                                               
Finished  <<< head_action                                          [ 1.4 seconds ]
Starting  >>> pal_common_msgs                                                  
Starting  >>> pal_control_msgs                                                 
Finished  <<< gazebo_msgs                                          [ 2.9 seconds ]
Starting  >>> pal_detection_msgs                                               
Finished  <<< pal_behaviour_msgs                                   [ 2.4 seconds ]
Starting  >>> pal_device_msgs                                                  
Finished  <<< pal_common_msgs                                      [ 2.3 seconds ]
Starting  >>> pal_interaction_msgs                                             
Finished  <<< pal_control_msgs                                     [ 2.5 seconds ]
Starting  >>> pal_motion_model_msgs                                            
Finished  <<< pal_device_msgs                                      [ 2.4 seconds ]
Starting  >>> pal_multirobot_msgs                                              
Finished  <<< pal_motion_model_msgs                                [ 1.9 seconds ]
Starting  >>> pal_navigation_msgs                                              
Finished  <<< pal_multirobot_msgs                                  [ 1.5 seconds ]
Finished  <<< pal_detection_msgs                                   [ 4.3 seconds ]
Starting  >>> pal_tablet_msgs                                                  
Finished  <<< pal_tablet_msgs                                      [ 1.3 seconds ]
Finished  <<< pal_interaction_msgs                                 [ 5.2 seconds ]
Starting  >>> pal_video_recording_msgs                                         
Finished  <<< pal_video_recording_msgs                             [ 1.2 seconds ]
Starting  >>> pal_vision_msgs                                                  
Finished  <<< pal_navigation_msgs                                  [ 5.1 seconds ]
Starting  >>> pal_walking_msgs                                                 
Finished  <<< pal_vision_msgs                                      [ 2.2 seconds ]
Starting  >>> pal_wifi_localization_msgs                                       
Starting  >>> play_motion_msgs                                                 
Starting  >>> reemc_controller_configuration                                   
Finished  <<< pal_walking_msgs                                     [ 1.1 seconds ]
Starting  >>> reemc_controller_configuration_gazebo                            
Finished  <<< reemc_controller_configuration                       [ 0.2 seconds ]
Starting  >>> reemc_description                                                
Finished  <<< reemc_controller_configuration_gazebo                [ 0.3 seconds ]
Starting  >>> twist_mux_msgs                                                   
Finished  <<< reemc_description                                    [ 0.3 seconds ]
Finished  <<< pal_wifi_localization_msgs                           [ 1.4 seconds ]
Starting  >>> gazebo_ros                                                       
Finished  <<< play_motion_msgs                                     [ 1.6 seconds ]
Starting  >>> pal_gazebo_plugins                                               
Finished  <<< gazebo_ros                                           [ 0.5 seconds ]
Starting  >>> play_motion                                                      
Starting  >>> gazebo_plugins                                                   
Finished  <<< twist_mux_msgs                                       [ 1.5 seconds ]
Starting  >>> gazebo_ros_control                                               
Finished  <<< pal_gazebo_plugins                                   [ 0.6 seconds ]
Starting  >>> twist_mux                                                        
Finished  <<< play_motion                                          [ 0.5 seconds ]
Finished  <<< gazebo_ros_control                                   [ 0.5 seconds ]
Starting  >>> reemc_hardware_gazebo                                            
Finished  <<< twist_mux                                            [ 0.4 seconds ]
Starting  >>> reemc_bringup                                                    
Finished  <<< reemc_hardware_gazebo                                [ 0.5 seconds ]
Finished  <<< reemc_bringup                                        [ 0.4 seconds ]
Finished  <<< gazebo_plugins                                       [ 2.4 seconds ]
Starting  >>> reemc_gazebo                                                     
Finished  <<< reemc_gazebo                                         [ 0.2 seconds ]
Starting  >>> reemc_moveit_config                                              
Finished  <<< reemc_moveit_config                                  [ 0.2 seconds ]
[build] Summary: All 33 packages succeeded!                                    
[build]   Ignored:   5 packages were skipped or are blacklisted.               
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 19.9 seconds total.                                           
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/reemc$ 
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tiago$ catkin build
---------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /home/relaybot/catkin_ws/devel:/opt/ros/indigo
Workspace:                   /home/relaybot/Robotdemo_ws/tiago
---------------------------------------------------------------------------
Source Space:       [exists] /home/relaybot/Robotdemo_ws/tiago/src
Log Space:          [exists] /home/relaybot/Robotdemo_ws/tiago/logs
Build Space:        [exists] /home/relaybot/Robotdemo_ws/tiago/build
Devel Space:        [exists] /home/relaybot/Robotdemo_ws/tiago/devel
Install Space:      [unused] /home/relaybot/Robotdemo_ws/tiago/install
DESTDIR:            [unused] None
---------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
---------------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
---------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
---------------------------------------------------------------------------
Workspace configuration appears valid.
---------------------------------------------------------------------------
[build] Found '90' packages in 0.0 seconds.                                    
[build] Package table is up to date.                                           
Starting  >>> aruco                                                            
Starting  >>> aruco_msgs                                                       
Starting  >>> controller_manager_msgs                                          
Starting  >>> ddynamic_reconfigure_python                                      
Finished  <<< aruco                                                [ 0.5 seconds ]
Starting  >>> hardware_interface                                               
Finished  <<< ddynamic_reconfigure_python                          [ 0.4 seconds ]
Starting  >>> head_action                                                      
Finished  <<< hardware_interface                                   [ 0.5 seconds ]
Starting  >>> hey5_description                                                 
Finished  <<< aruco_msgs                                           [ 1.6 seconds ]
Finished  <<< hey5_description                                     [ 0.6 seconds ]
Starting  >>> look_hand                                                        
Finished  <<< controller_manager_msgs                              [ 2.3 seconds ]
Starting  >>> look_to_point                                                    
Finished  <<< look_hand                                            [ 0.6 seconds ]
Starting  >>> pal_behaviour_msgs                                               
Starting  >>> pal_common_msgs                                                  
Finished  <<< look_to_point                                        [ 0.6 seconds ]
Starting  >>> pal_control_msgs                                                 
Finished  <<< head_action                                          [ 2.0 seconds ]
Starting  >>> pal_detection_msgs                                               
Finished  <<< pal_control_msgs                                     [ 3.0 seconds ]
Starting  >>> pal_device_msgs                                                  
Finished  <<< pal_behaviour_msgs                                   [ 4.2 seconds ]
Starting  >>> pal_gripper_description                                          
Finished  <<< pal_common_msgs                                      [ 3.9 seconds ]
Starting  >>> pal_interaction_msgs                                             
Finished  <<< pal_gripper_description                              [ 0.5 seconds ]
Starting  >>> pal_motion_model_msgs                                            
Finished  <<< pal_detection_msgs                                   [ 4.8 seconds ]
Finished  <<< pal_device_msgs                                      [ 2.4 seconds ]
Starting  >>> pal_multirobot_msgs                                              
Finished  <<< pal_motion_model_msgs                                [ 1.8 seconds ]
Starting  >>> pal_navigation_msgs                                              
Finished  <<< pal_multirobot_msgs                                  [ 1.3 seconds ]
Finished  <<< pal_interaction_msgs                                 [ 4.2 seconds ]
Starting  >>> pal_tablet_msgs                                                  
Finished  <<< pal_tablet_msgs                                      [ 1.0 seconds ]
Starting  >>> pal_video_recording_msgs                                         
Finished  <<< pal_video_recording_msgs                             [ 0.8 seconds ]
Starting  >>> pal_vision_msgs                                                  
Starting  >>> pal_visual_localization_msgs                                     
Starting  >>> pal_walking_msgs                                                 
Finished  <<< pal_navigation_msgs                                  [ 4.4 seconds ]
Starting  >>> pal_web_msgs                                                     
Finished  <<< pal_walking_msgs                                     [ 1.3 seconds ]
Finished  <<< pal_web_msgs                                         [ 0.8 seconds ]
Starting  >>> pal_wifi_localization_msgs                                       
Finished  <<< pal_wifi_localization_msgs                           [ 1.0 seconds ]
Starting  >>> play_motion_msgs                                                 
Finished  <<< pal_visual_localization_msgs                         [ 2.3 seconds ]
Starting  >>> play_with_sensors                                                
Starting  >>> pmb2_controller_configuration_gazebo                             
Finished  <<< pal_vision_msgs                                      [ 2.8 seconds ]
Starting  >>> rviz_plugin_covariance                                           
Finished  <<< play_with_sensors                                    [ 0.2 seconds ]
Finished  <<< pmb2_controller_configuration_gazebo                 [ 0.2 seconds ]
Starting  >>> tf_lookup                                                        
Finished  <<< play_motion_msgs                                     [ 0.7 seconds ]
Starting  >>> tiago_laser_sensors                                              
Starting  >>> tiago_maps                                                       
Finished  <<< rviz_plugin_covariance                               [ 0.3 seconds ]
Starting  >>> tiago_moveit_config                                              
Finished  <<< tiago_maps                                           [ 0.2 seconds ]
Starting  >>> tiago_moveit_tutorial                                            
Finished  <<< tiago_laser_sensors                                  [ 0.2 seconds ]
Starting  >>> tiago_pcl_tutorial                                               
Finished  <<< tiago_moveit_config                                  [ 0.2 seconds ]
Finished  <<< tf_lookup                                            [ 1.0 seconds ]
Finished  <<< tiago_moveit_tutorial                                [ 0.8 seconds ]
Starting  >>> tts                                                              
Starting  >>> pal_parallel_gripper_wrapper                                     
Finished  <<< tiago_pcl_tutorial                                   [ 0.8 seconds ]
Starting  >>> controller_interface                                             
Starting  >>> joint_limits_interface                                           
Finished  <<< tts                                                  [ 0.1 seconds ]
Starting  >>> transmission_interface                                           
Finished  <<< pal_parallel_gripper_wrapper                         [ 0.1 seconds ]
Starting  >>> aruco_ros                                                        
Finished  <<< controller_interface                                 [ 0.1 seconds ]
Starting  >>> rqt_joint_trajectory_controller                                  
Finished  <<< joint_limits_interface                               [ 0.1 seconds ]
Starting  >>> pal_person_detector_opencv                                       
Finished  <<< transmission_interface                               [ 0.2 seconds ]
Starting  >>> tiago_opencv_tutorial                                            
Finished  <<< rqt_joint_trajectory_controller                      [ 0.2 seconds ]
Starting  >>> pal_gazebo_plugins                                               
Finished  <<< aruco_ros                                            [ 0.3 seconds ]
Starting  >>> pal_python                                                       
Finished  <<< pal_person_detector_opencv                           [ 0.2 seconds ]
Starting  >>> say_something                                                    
Finished  <<< pal_python                                           [ 0.2 seconds ]
Starting  >>> demo_motions                                                     
Finished  <<< tiago_opencv_tutorial                                [ 0.5 seconds ]
Starting  >>> run_motion                                                       
Finished  <<< pal_gazebo_plugins                                   [ 0.4 seconds ]
Starting  >>> controller_manager                                               
Finished  <<< say_something                                        [ 0.2 seconds ]
Starting  >>> force_torque_sensor_controller                                   
Finished  <<< demo_motions                                         [ 0.5 seconds ]
Starting  >>> forward_command_controller                                       
Finished  <<< force_torque_sensor_controller                       [ 0.2 seconds ]
Finished  <<< run_motion                                           [ 0.6 seconds ]
Starting  >>> imu_sensor_controller                                            
Starting  >>> joint_state_controller                                           
Finished  <<< controller_manager                                   [ 0.5 seconds ]
Starting  >>> tiago_aruco_demo                                                 
Finished  <<< forward_command_controller                           [ 0.2 seconds ]
Starting  >>> tiago_pick_demo                                                  
Finished  <<< imu_sensor_controller                                [ 0.2 seconds ]
Starting  >>> pal_navigation_sm                                                
Finished  <<< joint_state_controller                               [ 0.2 seconds ]
Starting  >>> pmb2_description                                                 
Finished  <<< tiago_aruco_demo                                     [ 0.1 seconds ]
Starting  >>> controller_manager_tests                                         
Finished  <<< pal_navigation_sm                                    [ 0.1 seconds ]
Starting  >>> diff_drive_controller                                            
Finished  <<< pmb2_description                                     [ 0.2 seconds ]
Starting  >>> joint_trajectory_controller                                      
Finished  <<< controller_manager_tests                             [ 0.3 seconds ]
Finished  <<< tiago_pick_demo                                      [ 0.7 seconds ]
Finished  <<< joint_trajectory_controller                          [ 0.3 seconds ]
Starting  >>> rqt_controller_manager                                           
Starting  >>> gazebo_ros_control                                               
Starting  >>> effort_controllers                                               
Finished  <<< diff_drive_controller                                [ 0.4 seconds ]
Starting  >>> position_controllers                                             
Finished  <<< gazebo_ros_control                                   [ 0.2 seconds ]
Starting  >>> velocity_controllers                                             
Finished  <<< effort_controllers                                   [ 0.2 seconds ]
Starting  >>> play_motion                                                      
Finished  <<< rqt_controller_manager                               [ 0.1 seconds ]
Starting  >>> tiago_2dnav                                                      
Finished  <<< position_controllers                                 [ 0.2 seconds ]
Starting  >>> tiago_description                                                
Finished  <<< velocity_controllers                                 [ 0.2 seconds ]
Starting  >>> pmb2_controller_configuration                                    
Finished  <<< tiago_2dnav                                          [ 0.2 seconds ]
Starting  >>> pal_hardware_gazebo                                              
Finished  <<< play_motion                                          [ 0.3 seconds ]
Starting  >>> pal_gripper_controller_configuration                             
Finished  <<< tiago_description                                    [ 0.1 seconds ]
Starting  >>> tiago_controller_configuration_gazebo                            
Finished  <<< pmb2_controller_configuration                        [ 0.1 seconds ]
Starting  >>> pmb2_bringup                                                     
Finished  <<< pal_hardware_gazebo                                  [ 0.2 seconds ]
Starting  >>> pal_gripper_gazebo                                               
Finished  <<< pal_gripper_controller_configuration                 [ 0.1 seconds ]
Starting  >>> pal_gripper                                                      
Finished  <<< tiago_controller_configuration_gazebo                [ 0.1 seconds ]
Finished  <<< pmb2_bringup                                         [ 0.1 seconds ]
Starting  >>> pmb2_gazebo                                                      
Starting  >>> tiago_bringup                                                    
Finished  <<< pal_gripper_gazebo                                   [ 0.1 seconds ]
Finished  <<< pal_gripper                                          [ 0.1 seconds ]
Finished  <<< pmb2_gazebo                                          [ 0.1 seconds ]
Finished  <<< tiago_bringup                                        [ 0.1 seconds ]
Starting  >>> tiago_gazebo                                                     
Finished  <<< tiago_gazebo                                         [ 0.1 seconds ]
Starting  >>> tiago_2dnav_gazebo                                               
Starting  >>> tiago_multi                                                      
Finished  <<< tiago_multi                                          [ 0.1 seconds ]
Finished  <<< tiago_2dnav_gazebo                                   [ 0.1 seconds ]
[build] Summary: All 82 packages succeeded!                                    
[build]   Ignored:   8 packages were skipped or are blacklisted.               
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 23.9 seconds total.                                           
relaybot@exbot-ThinkPad-T420s:~/Robotdemo_ws/tiago$ 

----------

最后补充实时ROS2文档,之前版本是ROS1,如下:

关于ROS 2

ROS 2教程

高级

ROS 2演示

----------

-End-

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