ROS1&2极简版安装配置案例（Noetic&Foxy@Ubuntu20.04）

Noetic：

1：

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：

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

3：

sudo apt update

4：安装

sudo apt install ros-noetic-desktop-full

5：配置

source /opt/ros/noetic/setup.bash

Bash:

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

Zsh:

echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

ros-noetic-desktop-full (1.5.0-1focal.20200724.201236)

sudo apt install ros-noetic- Display all 1048 possibilities? (y or n)

Foxy:

1:

sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

2:

sudo apt update && sudo apt install curl gnupg2 lsb-release

3:

sudo gedit /etc/apt/sources.list.d/ros2-latest.list

deb [arch=amd64,arm64] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/ focal main

4:

sudo apt update

5: 安装

sudo apt install ros-foxy-desktop

6: 配置

source /opt/ros/foxy/setup.bash

ros-foxy-desktop (0.9.2-1focal.20200807.222642)

sudo apt install ros-foxy- Display all 815 possibilities? (y or n)

7:

sudo apt install python3-argcomplete

配置：Noetic和Foxy切换（Bash）

# ROS 1.0 noetic or ROS 2.0 foxy
echo Hello, ROS 1.0 or ROS 2.0? 1=noetic 2=foxy 
read ROS
if (($ROS==1));then
source /opt/ros/noetic/setup.bash
#export ROS_PACKAGE_PATH=/home/ros/RobTool/ROS1/Wiki/src:/home/relaybot/RobTool/Cozmo/ros/src:$ROS_PACKAGE_PATH
#source /home/ros/RobTool/ROS1/Wiki/devel/setup.bash
#export ROS_MASTER_URI=http://192.168.1.100:11311
#export ROS_IP=192.168.1.100
echo "noetic"
elif (($ROS==2));then
source /opt/ros/foxy/setup.bash
echo "foxy"
else
echo "Non-ROS"
fi

案例：

使用新立得软件工具安装deb包。

点击应用：

实物如上：

roslaunch mir_gazebo mir_maze_world.launch

仿真如下：

环境图如下：

可以测试各类算法。

foxy-turtlebot3:

• https://ubuntu.com/blog/simulate-the-turtlebot3

ign-gazebo-demos(ros1+ros2):

$ roslaunch ros_ign_gazebo_demos  air_pressure.launch        gpu_lidar.launch battery.launch             image_bridge.launch camera.launch              imu.launch create.launch              magnetometer.launch depth_camera.launch        rgbd_camera_bridge.launch diff_drive.launch          rgbd_camera.launch gpu_lidar_bridge.launch  $ ros2 launch ros_ign_gazebo_demos  -a                              imu.launch.py air_pressure.launch.py          magnetometer.launch.py battery.launch.py               -p camera.launch.py                --print -d                              --print-description --debug                         rgbd_camera_bridge.launch.py depth_camera.launch.py          rgbd_camera.launch.py diff_drive.launch.py            -s gpu_lidar_bridge.launch.py      --show-all-subprocesses-output gpu_lidar.launch.py             --show-args image_bridge.launch.py          --show-arguments

Noetic：

1. roslaunch ros_ign_gazebo_demos battery.launch 
2. rostopic pub /model/vehicle_blue/cmd_vel geometry_msgs/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

Foxy：

1. ros2 launch ros_ign_gazebo_demos battery.launch.py
2. ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

 电池耗尽机器人将停止运动！！！

ROS+ign_gazebo

演示如何将ign_gazebo与ROS一起使用的演示。

启动ign_gazebo

启动文件，例如：

ros2 launch ros_ign_gazebo ign_gazebo.launch.py ign_args:="shapes.sdf"

ros1使用roslaunch

空气压力

sensor_msgs/msg/FluidPressure。

发布流体压力读数。

ros2 launch ros_ign_gazebo_demos air_pressure.launch.py

相机

发布RGB相机图像和信息。

图像可以通过ros_ign_bridge或ROS ros_ign_image发布。

使用图像桥接（单向，使用image_transport）：

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py

使用常规桥接：

ros2 launch ros_ign_gazebo_demos camera.launch.py

差速机器人

向差速驱动车辆发送命令并听其里程表。

ros2 launch ros_ign_gazebo_demos diff_drive.launch.py

然后取消暂停并发送命令

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

深度相机

深度相机数据可通过以下方式获得：

• sensor_msgs/msg/Image，通过ros_ign_bridge或ros_ign_image
• sensor_msgs/msg/PointCloud2，通过 ros_ign_point_cloud

使用图像桥接（单向，使用image_transport）：

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py

使用ign_gazebo件：

ros2 launch ros_ign_gazebo_demos depth_camera.launch.py

GPU激光雷达

GPU激光雷达数据可通过以下方式获得：

• sensor_msgs/msg/LaserScan，通过 ros_ign_bridge
• sensor_msgs/msg/PointCloud2，通过ros_ign_bridge或ros_ign_point_cloud

使用桥接：

ros2 launch ros_ign_gazebo_demos gpu_lidar_bridge.launch.py

使用ign_gazebo插件：

ros2 launch ros_ign_gazebo_demos gpu_lidar.launch.py

内部惯性导航单元

发布IMU读数。

ros2 launch ros_ign_gazebo_demos imu.launch.py

磁力计

发布磁场读数。

ros2 launch ros_ign_gazebo_demos magnetometer.launch.py

RGBD相机

RGBD摄像机数据可通过以下方式获得：

• sensor_msgs/msg/Image，通过ros_ign_bridge或ros_ign_image
• sensor_msgs/msg/PointCloud2，通过ros_ign_bridge或ros_ign_point_cloud

使用图像桥接（单向，使用image_transport）：

ros2 launch ros_ign_gazebo_demos image_bridge.launch.py

使用常规桥接：

ros2 launch ros_ign_gazebo_demos rgbd_camera_bridge.launch.py

使用ign_gazebo插件：

ros2 launch ros_ign_gazebo_demos rgbd_camera.launch.py

电池

获取电池的当前状态。

ros2 launch ros_ign_gazebo_demos battery.launch.py

然后发送命令，使车辆行驶并消耗电池电量

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"