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本文链接:[https://blog.csdn.net/ZhangRelay/article/details/103284223](https://blog.csdn.net/ZhangRelay/article/details/103284223)
初学者(入门级)教程是分步说明ROS2使用的资料汇总,目标向初学者介绍ROS 2。建议按顺序学习这些教程,从“普通用户”课程过渡到“开发人员”课程,获取ROS 2的基本知识。
ardent | bouncy | crystal | dashing | eloquent |
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如果正在寻找特定的教程内容,欢迎从教程中挑选对应课程,需要了解这些教程是相互关联的或独立的,但是并不意味着这是全面的文档。这些教程正在逐步完善中,因此欢迎反馈。
注意:当前,初学者级教程针对Dashing和Eloquent。某些功能可能不适用于较早的发行版。 学习此部分教程,并不需要ROS1基础,也不推荐学习ROS1相关内容,直接在ROS2环境下开发机器人功能包。
ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}" ros2 service call /spawn turtlesim/srv/Spawn "{x: 6, y: 1, theta: 1.2, name: 't6'}" ros2 param set /turtlesim background_r 255 ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute {"theta: 1.57"}
部分调试记录:
ros2 run turtlesim turtlesim_node
This application failed to start because it could not find or load the Qt platform plugin "windows"
使用windeployqt,配置一下该节点,通用格式如下:
windeployqt <ros2>/install/Lib/<package>/<target>.exe
/*
* 提示:该行代码过长,系统自动注释不进行高亮。一键复制会移除系统注释
* C:\ros_ws\ros_tutorials\install\turtlesim\lib\turtlesim\turtlesim_node.exe 64 bit, release executable Adding Qt5Svg for qsvgicon.dll Direct dependencies: Qt5Core Qt5Gui Qt5Widgets All dependencies : Qt5Core Qt5Gui Qt5Widgets To be deployed : Qt5Core Qt5Gui Qt5Svg Qt5Widgets Updating Qt5Core.dll. Updating Qt5Gui.dll. Updating Qt5Svg.dll. Updating Qt5Widgets.dll. Updating libGLESV2.dll. Updating libEGL.dll. Updating d3dcompiler_47.dll. Updating opengl32sw.dll. Updating vc_redist.x64.exe. Patching Qt5Core.dll... Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/iconengines. Updating qsvgicon.dll. Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/imageformats. Updating qgif.dll. Updating qicns.dll. Updating qico.dll. Updating qjpeg.dll. Updating qsvg.dll. Updating qtga.dll. Updating qtiff.dll. Updating qwbmp.dll. Updating qwebp.dll. Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/platforms. Updating qwindows.dll. Creating directory C:/ros_ws/ros_tutorials/install/turtlesim/lib/turtlesim/styles. Updating qwindowsvistastyle.dll. Creating C:\ros_ws\ros_tutorials\install\turtlesim\lib\turtlesim\translations... Creating qt_ar.qm... Creating qt_bg.qm... Creating qt_ca.qm... Creating qt_cs.qm... Creating qt_da.qm... Creating qt_de.qm... Creating qt_en.qm... Creating qt_es.qm... Creating qt_fi.qm... Creating qt_fr.qm... Creating qt_gd.qm... Creating qt_he.qm... Creating qt_hu.qm... Creating qt_it.qm... Creating qt_ja.qm... Creating qt_ko.qm... Creating qt_lv.qm... Creating qt_pl.qm... Creating qt_ru.qm... Creating qt_sk.qm... Creating qt_uk.qm...
*/
RQt依赖:
python -m pip install -U pydot PyQt5